CN107489855A - A kind of mixed power plant for gas pipeline crusing robot - Google Patents
A kind of mixed power plant for gas pipeline crusing robot Download PDFInfo
- Publication number
- CN107489855A CN107489855A CN201710669786.XA CN201710669786A CN107489855A CN 107489855 A CN107489855 A CN 107489855A CN 201710669786 A CN201710669786 A CN 201710669786A CN 107489855 A CN107489855 A CN 107489855A
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- China
- Prior art keywords
- turbine
- power plant
- clutch
- electric machine
- mixed power
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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
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
- F16L2101/10—Treating the inside of pipes
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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
Abstract
The invention discloses a kind of mixed power plant for gas pipeline crusing robot, arrangement of clutch of the mixed power plant including central support shaft, the driving wheel for being sheathed on the central siphon of the central support shaft, being fixed on the central siphon, the electric machine being connected respectively with the driving wheel and turbine apparatus and the connection turbine apparatus and the electric machine；The electric machine or turbine apparatus are rotated to drive the driving wheel to rotate, to cause the crusing robot to be moved along the axis direction of gas pipeline, the arrangement of clutch between the turbine apparatus and the electric machine being switched so that crusing robot uses corresponding power source；Or arrangement of clutch disconnects the power transmission between the turbine apparatus and the driving wheel to cause crusing robot to rest on predeterminated position；Mixed power plant is provided with electric machine and turbine apparatus, can be switched over by arrangement of clutch, to enable crusing robot to have longer endurance.
Description
Technical field
The present invention relates to robotic technology field, is moved more particularly, to a kind of mixing for gas pipeline crusing robot
Power apparatus.
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, 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 applied.
The power of gas pipeline robot and its motion control are always that need during engineer applied to solve one is closed
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., driven 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.Current traditional four-wheel drive, walking is unstable, easily topples, driving force deficiency.Screw machine
People, there is also the power that is short of power first to make full use of, and gait of march is single, turns 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, can not ensure robot transport
Row is steady.Also in terms of pipeline section changes adaptability, the single spring controlled governor motion of prior art use, adapt to
Limited, and difficult control is acted on, when elastic pressure is larger, it may appear that driving force deficiency stuck phenomenon, consume big energy more.
The content of the invention
For above-mentioned the shortcomings of the prior art, it is an object of the invention to provide one kind to be used for gas pipeline inspection machine
The mixed power plant of people, it, which has, is combined using gas pipeline fluid dynamic energy with electric energy to improve crusing robot endurance
The characteristics of.
To achieve these goals, the technical solution adopted in the present invention is：One kind is used for gas pipeline crusing robot
Mixed power plant, including central support shaft, the driving that is sheathed on the central siphon of the central support shaft, is fixed on the central siphon
Wheel, the electric machine being connected respectively with the driving wheel and turbine apparatus and the connection turbine apparatus and the electric machine
Arrangement of clutch, the electric machine or turbine apparatus are rotated to drive the driving wheel to rotate, to cause the inspection machine
People moves along the axis direction of gas pipeline, and the arrangement of clutch between the turbine apparatus and the electric machine cutting
Change to cause crusing robot to use corresponding power source；Or the arrangement of clutch disconnects the turbine apparatus and the drive
Power transmission between driving wheel is to cause crusing robot to rest on predeterminated position.
Alternatively, the arrangement of clutch includes the first reduction assemblies engaged with the turbine apparatus and the driving wheel
Second reduction assemblies of engagement and the clutch component of the first reduction assemblies of connection and second reduction assemblies, described first subtracts
Fast component includes the first connecting shaft, second reduction assemblies include with the first connecting shaft coaxial line and be oppositely arranged the
Two connecting shafts, the clutch component slide along first connecting shaft or second connecting shaft, to connect or disconnect described the
Power transmission between one reduction assemblies and second reduction assemblies.
Alternatively, the company that the clutch component includes steering wheel, is assembled to the rocking arm of the steering wheel, is hinged to the rocking arm
Bar and the gear synchronizer for being affixed to the connecting rod, the gear synchronizer are sheathed on first connecting shaft or described second
In connecting shaft, the steering wheel rotates rocking arm to cause the connecting rod to drive the gear synchronizer to move, to cause described first
Connecting shaft and the second connecting shaft synchronous axial system or disconnection.
Alternatively, the gear synchronizer includes the connecting portion of body and the protrusion body, the connecting portion with
The connecting rod is connected, and the body is provided with engaging tooth, the engaging tooth and first connecting shaft and second connecting shaft
Matching.
Alternatively, the turbine apparatus includes being sheathed on the rotary shaft of the central support shaft, is fixed on the rotary shaft
Turbine gear and turbine assembly, the turbine gear engages connection with the arrangement of clutch, and the turbine assembly is used for will be defeated
Fluid dynamic energy in feed channel is converted into the kinetic energy for driving the rotary shaft to rotate.
Alternatively, the turbine assembly includes being fixed on the adapter sleeve of the rotary shaft and is fixedly arranged on the fan of the adapter sleeve
Leaf, axis direction extension of the flabellum along the rotary shaft.
Alternatively, the electric machine includes motor and the sliding tooth being assembled in the driving motor output shaft
Wheel, the drive gear engage connection with the driving wheel.
Alternatively, the shell of the central support shaft, the arrangement of clutch, electric machine and turbine dress are assembled in addition to
Put and be accommodated in the shell.
Alternatively, the shell includes cylindrical main part and turbine portion and is connected adding for main part and turbine portion
Strengthening tendons, the external diameter of the main part are less than the external diameter of turbine portion, passage, the whirlpool are formed between the turbine portion and reinforcement
Wheel apparatus is located in the turbine portion and turned on the passage.
Alternatively, the shell also includes mounting bracket, and the arrangement of clutch and the electric machine are fixed to the installation
Frame.
After said structure, the invention has the advantages that compared with the prior art,：
Mixed power plant is provided with electric machine and turbine apparatus, can be switched over by arrangement of clutch, to patrol
Inspection robot can have longer endurance.The kinetic energy of fluid in gas pipeline is converted into crusing robot and moved by turbine apparatus
Dynamic power, small to the power consumption entrained by crusing robot itself, endurance is strong.Crusing robot uses the dynamic of mixing
Power, application of the crusing robot under gas pipeline environment is adapted to, improves its usability.
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 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, screw drives wheel apparatus 21 is rotated in the shape of a spiral, to cause
Crusing robot moves 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, 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 rotates 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 being connected 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 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
During 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, to cause crusing robot to be moved along the axis direction of gas pipeline.By controlling screw driving wheel to fill
21 hand of spiral is put, such as rotates along plus thread direction or is rotated along left-hand thread direction, crusing robot can be controlled along gas transmission
The axis direction of pipeline advances or retreated.
The crusing robot also includes being assembled to the shell 40 of central support shaft 10, and the shell 40 is storing 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, with cause arrangement of clutch 35 and electric machine 33 with driving wheel 32
Engagement connection, easy to adjust, installation is 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 bearing of trend of the passage is parallel with the axis of gas pipeline, turbine apparatus 34 be located at turbine portion 42 it is interior and with
Passage turns on, and mounting bracket 43 is in main part 41.In crusing robot moving process, fluid flows through passage and promoted
Turbine apparatus 34 works, to cause the turbine apparatus 34 in the crusing robot to be converted into patrolling by the fluid dynamic energy in gas pipeline
Examine the energy of 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 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 rotates 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 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, to cause inspection
Robot uses turbine apparatus 34 or electric machine 33 to be used 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
The second reduction assemblies 352 and the clutch component 353 of the first reduction assemblies 351 of connection and the second reduction assemblies 352 of engagement.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 slides along the first connecting shaft 3511 or the second connecting shaft 3521, with connection
Or the power transmission between the first reduction assemblies 351 of disconnection and the second reduction assemblies 352.
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 are 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 the 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 carries 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, and it is good to stop effect.
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 rotates, and the drive link 3533 of rocking arm 3532 makes connecting rod 3533 same with moving gear
Walk axial movement of the device 3534 along the first connecting shaft 3511 and the second connecting shaft 3521.By the way that the circular motion of steering wheel 3531 is turned
Change the rectilinear 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 motor 331 and the drive gear 332 being assembled on the output shaft of motor 331, drives
Moving gear 332 engages connection with driving wheel 32.Drive gear 332 and arrangement of clutch 35 are engaged to driving wheel 32 respectively, by from
Seaming element 353 controls the power source of crusing robot to choose, 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
Putting 20 also includes being sheathed on the bulb mobile devices 23 of central siphon 31, and bulb mobile device 23 is promoting 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, is hinged
It is attached 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 and connection leg folder 2112 and at least one second constrictor of drive wheel assemblies 2113 of leg folder 2112
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 the outwards expansion of base leg folder 211, to drive
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, 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 rotates 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.
To conform to the tube wall of gas pipeline, drive wheel assemblies 2113 include being hinged to leg folder drive wheel assemblies 2113
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 pastes
It is bonded to the tube wall of gas pipeline.
In one embodiment, the both sides of installation axle are be 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 abutted 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 rotates 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 folder 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 are 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 connection of spherical shape
End, connecting rod 2322 matches be connected to the first connection end and second connection end respectively, to cause connecting rod 2322 to be connected with first
The universal rotational of 2323 and second connecting pole of post 2321.The connecting pole 2323 of connecting rod 2322 and first and the second connecting pole 2321 are in ten thousand
To rotation, when axial movement of the bulb component 231 along central siphon 31, connecting rod 2322 promotes drive-connecting shaft 2111 to turn around its axis
It is dynamic so that base leg folder 211 is rotated to realize the change of 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 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 are 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 rotates, commutation swing arm 241 drives reversing bar 242 to move, and reversing bar 242 is with movable slider straight line
It is mobile.First connecting pole 2323 is fixed on sliding block, and sliding block movement drives be hinged installation and the connection on the first connecting pole 2323
Bar 2322 moves, and then realizes base leg folder 211 and change the hand of spiral, and easy to operate, control is simple.
As shown in Fig. 2 and Fig. 5：Screw drives wheel apparatus 21 is set in the one end of central support shaft 10 to control advance and after
Move back, the movement for being provided with balance wheel device 22 in the other end of central support shaft 10 to keep crusing robot to keep stable.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 are 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
Contact surface is parallel with the axis of gas pipeline.
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
The stabilizer group 2223 of branch foot lever 2222, the 3rd constrictor 2224 and being connected of connection mounting rod 2221 and branch foot lever 2222 prop 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 constrictor
2225 stretch out to promote the outwards expansion of supporting leg folder 222, to cause stabilizer group 2223 to conform to the tube wall of gas pipeline.
Alternatively, stabilizer group 2223 includes tail main wheel 22231 and is hinged located at mounting rod 2221 and positioned at the both sides of tail main wheel 22231
Tail jockey pulley 22232, 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 pushes against tube wall, stability is good.3rd constrictor 2224 is adjusting mounting rod 2221 and branch foot lever 2222
Between angle, to adapt to the gas pipeline of different tube diameters, strong adaptability.
Robot for gas pipeline has 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
Without departing from the spiritual of invention or surmount scope defined in appended claims.
Claims (10)
- A kind of 1. mixed power plant for gas pipeline crusing robot, it is characterised in that：Including central support shaft, it is arranged Central siphon in the central support shaft, driving wheel, the electric machine being connected respectively with the driving wheel for being fixed on the central siphon And turbine apparatus and the connection turbine apparatus and the arrangement of clutch of the electric machine, the electric machine or turbine apparatus Rotate to drive the driving wheel to rotate, to cause the crusing robot to be moved along the axis direction of gas pipeline, it is described from Attach together and put to be switched so that crusing robot uses corresponding power between the turbine apparatus and the electric machine The energy；Or the arrangement of clutch disconnects the power transmission between the turbine apparatus and the driving wheel to cause inspection machine People rests on predeterminated position.
- 2. mixed power plant according to claim 1, it is characterised in that the arrangement of clutch includes filling with the turbine Put engagement the first reduction assemblies, with the driving wheel engagement the second reduction assemblies and be connected the first reduction assemblies with it is described The clutch component of second reduction assemblies, first reduction assemblies include the first connecting shaft, second reduction assemblies include with The first connecting shaft coaxial line and the second connecting shaft being oppositely arranged, the clutch component is along first connecting shaft or described Second connecting shaft is slided, to connect or disconnect the power transmission between first reduction assemblies and second reduction assemblies.
- 3. mixed power plant according to claim 2, it is characterised in that the clutch component includes steering wheel, is assembled to The rocking arm of the steering wheel, the connecting rod for being hinged to the rocking arm and the gear synchronizer for being affixed to the connecting rod, the gear synchronous Device is sheathed in first connecting shaft or second connecting shaft, and the steering wheel rotates rocking arm to cause the connecting rod to drive institute Gear synchronizer movement is stated, to cause first connecting shaft and the second connecting shaft synchronous axial system or disconnection.
- 4. mixed power plant according to claim 3, it is characterised in that the gear synchronizer includes body and convex Go out the connecting portion of the body, the connecting portion is connected with the connecting rod, and the body is provided with engaging tooth, the engaging tooth Matched with first connecting shaft and second connecting shaft.
- 5. mixed power plant according to claim 1, it is characterised in that the turbine apparatus include be sheathed on it is described in The rotary shaft of heart support shaft, the turbine gear and turbine assembly for being fixed on the rotary shaft, the turbine gear and the clutch Device engagement connection, the turbine assembly are used to be converted into the fluid dynamic energy in gas pipeline to drive what the rotary shaft rotated Kinetic energy.
- 6. mixed power plant according to claim 5, it is characterised in that the turbine assembly includes being fixed on described turn The adapter sleeve of moving axis and the flabellum for being fixedly arranged on the adapter sleeve, axis direction extension of the flabellum along the rotary shaft.
- 7. mixed power plant according to claim 1, it is characterised in that the electric machine includes motor and group Loaded on the drive gear in the driving motor output shaft, the drive gear engages connection with the driving wheel.
- 8. mixed power plant according to claim 1, it is characterised in that also include being assembled to the central support shaft Shell, the arrangement of clutch, electric machine and turbine apparatus are accommodated in the shell.
- 9. mixed power plant according to claim 8, it is characterised in that the shell includes cylindrical main part With turbine portion and being connected main part and the reinforcement of turbine portion, the external diameter of the main part is less than the external diameter of turbine portion, the whirlpool Passage is formed between wheel portion and reinforcement, the turbine apparatus is located in the turbine portion and turned on the passage.
- 10. mixed power plant according to claim 8, it is characterised in that the shell also includes mounting bracket, it is described from Attach together and put and the electric machine is fixed to the mounting bracket.
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| CN201710669786.XA CN107489855B (en) | 2017-08-08 | 2017-08-08 | A kind of mixed power plant for gas pipeline crusing robot |
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| CN201710669786.XA CN107489855B (en) | 2017-08-08 | 2017-08-08 | A kind of mixed power plant for gas pipeline crusing robot |
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| CN107489855A true CN107489855A (en) | 2017-12-19 |
| CN107489855B CN107489855B (en) | 2019-04-12 |
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| CN109027515A (en) * | 2018-08-21 | 2018-12-18 | 西华大学 | A kind of K shape pipe robot |
| 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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| Publication number | Publication date |
|---|---|
| CN107489855B (en) | 2019-04-12 |
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