CN108223968B - Autonomous small-sized pipeline robot - Google Patents
Autonomous small-sized pipeline robot Download PDFInfo
- Publication number
- CN108223968B CN108223968B CN201711247604.6A CN201711247604A CN108223968B CN 108223968 B CN108223968 B CN 108223968B CN 201711247604 A CN201711247604 A CN 201711247604A CN 108223968 B CN108223968 B CN 108223968B
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- Prior art keywords
- steel wire
- module
- wire flexible
- universal hinge
- legs
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
- F16L55/34—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained the pig or mole being moved step by step
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—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
- F16L2101/10—Treating the inside of pipes
- F16L2101/16—Coating by application of fluent materials, e.g. painting
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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 relates to an autonomous small pipeline robot which comprises a driving motor, a steel wire flexible shaft, a walking module, a walking mechanism revolving head, a cross universal hinge and a working module, wherein the walking module, the walking mechanism revolving head, the cross universal hinge and the working module are sequentially connected in series, and the driving motor arranged outside a pipeline is connected with the steel wire flexible shaft to drive the walking module to drive the robot to move forwards and backwards, and the walking mechanism revolving head drives the cross universal hinge and the working module to do 360-degree revolving motion. The invention has the following characteristics: 1. the operation of continuously bending the small pipeline can be realized; 2. all power sources are externally arranged and driven by a steel wire flexible shaft, so that the structure is compact and the volume is small; 3. the operation modules can be connected in series by the cross universal hinge, so that the operation space and range of the robot are widened.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and relates to an autonomous small pipeline robot.
Background
The pipeline robot is one of important branches of special robots, and is generated under the promotion of pipeline construction and maintenance technologies of modern petrochemical industry, municipal construction and the like. The pipeline robot works in a specific space where the pipeline belongs, and various operation devices or detection instruments can be carried on the robot and enter the pipeline under the remote control or autonomous control of engineering personnel to finish tasks such as pipeline flaw detection, inner wall rust removal, inner wall anti-corrosion coating detection and coating, in-pipeline foreign matter identification and removal, in-pipeline processing and the like.
With the more frequent use of pipelines in engineering and the continuous development of scientific technology, the application range of the pipeline robot is required to be wider and wider, the existing pipeline robot system can only adapt to a certain limited operation range, and when the pipeline robot needs to be operated in a small pipeline, the wide-range application and popularization of the pipeline robot are limited to a certain extent. In order to improve the usability of the pipeline robot in a small pipeline, the development and the development of the small pipeline robot which can freely walk in a small pipeline system and can autonomously finish different operations are hot spots and difficult problems in the development and application field of the pipeline robot.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide an autonomous small pipeline robot which is a pipeline robot working in a small pipeline, is suitable for different pipe diameters, can move in the pipeline, realizes clamping and positioning and automatically centers. Has the characteristics of compact structure, small volume and capability of realizing operation in a continuously bent small pipeline.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the utility model provides an autonomous small-size pipeline robot, includes driving motor, steel wire flexible axle, running gear rotary head, cross universal hinge and operation module establish ties in proper order, connect steel wire flexible axle drive through the external driving motor of pipeline for running gear rotary head drives the robot and advances and retreat, 360 gyration motions are made with the operation module to cross universal hinge.
The walking module comprises a moving leg and a rubber wheel, the rubber wheel is arranged at the end part of the moving leg, and the rubber wheel is supported by the moving leg, and the driving motor directly drives the rubber wheel to move along the pipe wall through a steel wire flexible shaft; the movable legs are uniformly arranged along the circumferential direction of the walking module by 120 degrees, three are arranged in one group, and two groups are arranged; when the specified operation position is reached, the rubber wheel stops moving, and the moving leg provides power through the steel wire flexible shaft to carry out the actions of tightening and positioning.
The movable legs are actively supported, one ends of the movable legs are hinged and fixed, the other ends of the movable legs are connected with rubber wheels, the middle parts of the movable legs are hinged with a connecting rod, the other ends of the connecting rod are hinged to a first sliding block, the first sliding block is matched with a first screw rod, and two groups of six movable legs are supported and adjusted by adopting the same first screw rod.
The structure of the operation module is similar to that of the walking module, the operation module comprises supporting legs and rubber balls, the rubber balls are embedded into the supporting legs, the supporting legs are uniformly arranged along the circumferential direction of the operation module by 120 degrees, three are in one group, and two groups are arranged; the supporting mode of the supporting legs is the same as that of the moving legs, and two groups of six supporting legs adopt the same second screw rod for supporting and adjusting; the driving motor drives the second sliding block through the steel wire flexible shaft to tightly support the supporting legs, so that the rubber ball is tightly contacted with the pipe wall, and the positioning function is realized; the operation module is used for completing the operation in different pipelines by loading different operation devices; the power of the operation device is also derived from a steel wire flexible shaft connected with an external motor.
The travelling mechanism rotary head adopts planetary gear transmission, a driving source is a steel wire flexible shaft driven by an external motor, and when the travelling mechanism rotary head rotates, the cross universal hinge is driven to do 360-degree rotation.
The cross universal hinges are formed by connecting a plurality of universal hinges in series, wherein one end of each cross universal hinge is connected with a travelling mechanism rotary head, and the other end of each cross universal hinge is connected with the operation module; the power transmitted by the revolving head of the travelling mechanism enables the operation module to do 360-degree revolving motion through the cross universal hinge, so that the operation module can smoothly pass through the bending part of the pipeline.
Compared with the prior art, the invention has the following obvious prominent substantive features and remarkable progress:
1. the power source is all external, is driven by the steel wire flexible shaft, and has compact structure and small volume.
2. The invention can realize different autonomous operations in a plurality of small continuous bending pipelines under the condition that the length of the steel wire flexible shaft is allowed.
3. The plurality of operation modules can be connected in series by the cross universal hinge, and the operation space and the operation range are widened.
Drawings
Fig. 1 is an overall assembly view of an autonomous small pipe robot according to the present invention.
Fig. 2 is a schematic view of a walking module of an autonomous small-sized pipeline robot according to the present invention.
Fig. 3 is a left side view and a front view of a traveling mechanism turret of an autonomous small pipe robot according to the present invention.
Fig. 4 is a schematic structural view of a working module of an autonomous small pipe robot according to the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in fig. 1, the autonomous small-sized pipeline robot comprises a driving motor, a steel wire flexible shaft, a walking module 7, a walking mechanism rotary head 10, a cross universal hinge 11 and a working module 12, wherein the walking module 7, the walking mechanism rotary head 10, the cross universal hinge 11 and the working module 12 are sequentially connected in series, the driving motor is connected with the steel wire flexible shaft through an external driving motor to drive the walking module 7 to drive the robot to move forwards and backwards, and the walking mechanism rotary head 10 drives the cross universal hinge 11 and the working module 12 to perform 360-degree rotary motion. The driving motors 1, 3 and 6 are all externally arranged, the power 2, 4 and 5 is transmitted to the traveling module 7, the traveling mechanism rotary head 10, the operation module 12 and the like by adopting steel wire flexible shafts, and for simplicity, only three motors and three steel wire flexible shafts are shown in fig. 1.
As shown in fig. 2, the walking module 7 comprises a moving leg 8 and a rubber wheel 9, the rubber wheel 9 is arranged at the end part of the moving leg 8, and the rubber wheel 9 is supported by the moving leg 8, and a driving motor directly drives the rubber wheel 9 to move along a pipe wall 16 through a steel wire flexible shaft; the movable legs 8 are uniformly arranged along the circumferential direction of the walking module 7 by 120 degrees, three are arranged in one group, and two groups are arranged; when the specified operation position is reached, the rubber wheel 9 stops moving, and the movable leg 8 provides power through the steel wire flexible shaft to carry out the tightening and positioning actions.
The movable legs 8 are actively supported, one ends of the movable legs are hinged and fixed, the other ends of the movable legs are connected with the rubber wheels 9, the middle parts of the movable legs 8 are hinged with a connecting rod, the other ends of the connecting rod are hinged to the first sliding blocks 19, the first sliding blocks 19 are matched with the first lead screws 20, and two groups of six movable legs 8 are supported and adjusted by adopting the same first lead screw 20.
As shown in fig. 4, the structure of the operation module 12 is similar to that of the walking module 7, and comprises support legs 13 and rubber balls 14, wherein the rubber balls 14 are embedded into the support legs 13, the support legs 13 are uniformly arranged at 120 degrees along the circumferential direction of the operation module 12, and three groups are arranged into one group, and two groups are arranged; the supporting mode of the supporting legs 13 is the same as that of the moving legs 8, and two groups of six supporting legs 13 are supported and adjusted by adopting the same second screw rod 18; the driving motor drives the second sliding block 17 through the steel wire flexible shaft to tightly support the supporting leg 13, so that the rubber ball 14 is tightly contacted with the pipe wall 16, and the positioning function is realized; the operation module 12 is loaded with different operation devices so as to complete different operations in pipelines, and the operation module 12 in fig. 1 carries a grinding wheel 15; the power of the operation device is also derived from a steel wire flexible shaft connected with an external motor.
As shown in fig. 3, the travelling mechanism rotary head 10 adopts planetary gear transmission, a driving source is a steel wire flexible shaft driven by an external motor, and when the travelling mechanism rotary head 10 rotates, the cross universal hinge 11 is driven to do 360-degree rotation.
The cross universal hinges 11 are formed by connecting a plurality of universal hinges in series, wherein one end of each cross universal hinge is connected with the travelling mechanism rotary head 10, and the other end of each cross universal hinge is connected with the operation module 12; the power transmitted by the travelling mechanism swivel head 10 enables the operation module 12 to perform 360-degree swivel motion through the cross universal hinge 11, so that the operation module 12 smoothly passes through the bent part of the pipeline.
Claims (2)
1. The autonomous small-sized pipeline robot is characterized by comprising three driving motors, three steel wire flexible shafts, a walking module (7), a walking mechanism rotary head (10), a cross universal hinge (11) and an operation module (12), wherein the walking module (7), the walking mechanism rotary head (10), the cross universal hinge (11) and the operation module (12) are sequentially connected in series, the three driving motors are arranged outside a pipeline and are respectively connected with the three steel wire flexible shafts, and the three driving motors are driven by one connecting steel wire flexible shaft, so that the walking module (7) drives the robot to move forwards and backwards; the other steel wire flexible shaft drives the travelling mechanism rotary head (10) to drive the cross universal hinge (11) and the operation module (12) to do 360-degree rotary motion;
the walking module (7) comprises six moving legs (8) and rubber wheels (9), each rubber wheel (9) is arranged at the end part of each moving leg (8), and the rubber wheels (9) are supported by the moving legs (8), and a driving motor directly drives the rubber wheels (9) to move along the pipe wall (16) through a steel wire flexible shaft; the movable legs (8) are uniformly arranged along the circumferential direction of the walking module (7) by 120 degrees, three are arranged in one group, and two groups are arranged; when the specified operation position is reached, the rubber wheel (9) stops moving, and the movable leg (8) provides power through the third steel wire flexible shaft to carry out the actions of tightening and positioning;
each movable leg (8) is actively supported, one end of each movable leg is hinged and fixed, the other end of each movable leg is connected with a rubber wheel (9), the middle part of each movable leg (8) is hinged with a connecting rod, the other end of each connecting rod is hinged on a first sliding block (19), the first sliding blocks (19) are matched with a first lead screw (20), and two groups of six movable legs (8) are supported and regulated by adopting the same first lead screw (20);
the structure of the operation module (12) is similar to that of the walking module (7), the operation module comprises six support legs (13) and rubber balls (14), each rubber ball (14) is embedded into the support leg (13), the support legs (13) are uniformly arranged at 120 degrees along the circumferential direction of the operation module (12), and three groups of the support legs are arranged in one group, and two groups of the support legs are arranged; the supporting mode of the supporting legs (13) is the same as that of the moving legs (8), and two groups of six supporting legs (13) are supported and adjusted by adopting the same second screw rod (18); the driving motor drives the second sliding block (17) through the steel wire flexible shaft to tightly support the supporting legs (13), so that the rubber balls (14) are tightly contacted with the pipe wall (16), and the positioning function is realized; the operation module (12) is used for completing different pipeline internal operations by loading different operation devices; the power of the operation device is also derived from a steel wire flexible shaft connected with an external motor;
the travelling mechanism rotary head (10) adopts planetary gear transmission, a driving source is a steel wire flexible shaft driven by an external motor, and when the travelling mechanism rotary head (10) rotates, the cross universal hinge (11) is driven to do 360-degree rotation.
2. The autonomous small pipe robot according to claim 1, wherein the cross universal hinge (11) is a plurality of universal hinges connected in series, one end of the cross universal hinge is connected with the travelling mechanism rotary head (10), and the other end of the cross universal hinge is connected with the operation module (12); the power transmitted by the travelling mechanism rotary head (10) enables the operation module (12) to rotate for 360 degrees through the cross universal hinge (11), so that the operation module (12) smoothly passes through the bending part of the pipeline.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247604.6A CN108223968B (en) | 2017-12-01 | 2017-12-01 | Autonomous small-sized pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711247604.6A CN108223968B (en) | 2017-12-01 | 2017-12-01 | Autonomous small-sized pipeline robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108223968A CN108223968A (en) | 2018-06-29 |
| CN108223968B true CN108223968B (en) | 2023-10-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711247604.6A Active CN108223968B (en) | 2017-12-01 | 2017-12-01 | Autonomous small-sized pipeline robot |
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| CN (1) | CN108223968B (en) |
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| CN109404659B (en) * | 2018-12-25 | 2023-07-18 | 中北大学 | Straight wheel driving type reducer pipeline inspection robot |
| CN109973756A (en) * | 2018-12-29 | 2019-07-05 | 北京工业大学 | A kind of pipe robot |
| CN110388535A (en) * | 2019-07-05 | 2019-10-29 | 常州大学 | A kind of tensioning integrated piping robot |
| CN110360406A (en) * | 2019-07-05 | 2019-10-22 | 安徽工程大学 | A kind of creeping motion type pipe robot |
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| CN110640229B (en) * | 2019-09-27 | 2021-02-12 | 西安理工大学 | Device and method for cutting and finishing inner wall of pipeline |
| CN110962103B (en) * | 2019-11-14 | 2023-03-31 | 国网山西省电力公司大同供电公司 | Small-size calandria cable pipe robot |
| CN111844070B (en) * | 2020-07-20 | 2021-10-15 | 清华大学 | Movable hybrid robot for deep hole in-situ machining operation |
| CN111822897B (en) * | 2020-07-23 | 2021-11-19 | 郭宏健 | Tubular pile underground welding appearance |
| CN112815177A (en) * | 2021-01-13 | 2021-05-18 | 北京理工大学 | Robot structure capable of adapting to complex pipeline |
| CN113459091A (en) * | 2021-06-18 | 2021-10-01 | 中广核研究院有限公司 | Robot system and robot control system |
| CN113446458A (en) * | 2021-06-28 | 2021-09-28 | 北京林业大学 | Intelligent pipeline walking robot |
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| FR2647527A1 (en) * | 1989-05-26 | 1990-11-30 | Barras Provence | Vehicle for inspecting and servicing, or reconditioning the inside of pipes |
| GB9519368D0 (en) * | 1995-09-22 | 1995-11-22 | Univ Durham | Conduit traversing vehicle |
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| CN108223968A (en) | 2018-06-29 |
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