CN108302282A - A kind of travelling device in pipe and pipeline cleaning robot - Google Patents
A kind of travelling device in pipe and pipeline cleaning robot Download PDFInfo
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- CN108302282A CN108302282A CN201810191916.8A CN201810191916A CN108302282A CN 108302282 A CN108302282 A CN 108302282A CN 201810191916 A CN201810191916 A CN 201810191916A CN 108302282 A CN108302282 A CN 108302282A
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- Prior art keywords
- driving
- travelling device
- pipe
- walking
- driving mechanism
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/027—Cleaning the internal surfaces; Removal of blockages
- B08B9/04—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes
- B08B9/049—Cleaning the internal surfaces; Removal of blockages using cleaning devices introduced into and moved along the pipes having self-contained propelling means for moving the cleaning devices along the pipes, i.e. self-propelled
-
- 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
- F16L2101/12—Cleaning
Abstract
The present invention relates to machinery equipment field, in particular to a kind of travelling device in pipe and pipeline cleaning robot.Movement is completed in travelling device in pipe provided by the invention, walking mechanism and the equal driven-mechanism driving of supporting mechanism.Supporting mechanism is driven to move by driving mechanism so that with supporting mechanism relative motion variation occurs for walking mechanism, to which supporting mechanism changes position relationship of the walking mechanism relative to driving mechanism, so that walking mechanism has the debugging mode of the working condition for the inner wall for being tightly attached to pipeline to be cleaned and the inner wall far from pipeline, when walking mechanism is in running order, by the driving of driving mechanism, so that travelling device in pipe moves in pipeline.Travelling device in pipe provided by the invention adapts to the pipeline of different-diameter, effectively cleaning inner-walls of duct.Pipeline cleaning robot provided by the invention, including above-mentioned travelling device in pipe, therefore also there is above-mentioned advantageous effect.
Description
Technical field
The present invention relates to machinery equipment field, in particular to a kind of travelling device in pipe and duct cleaning machine
Device people.
Background technology
Pipeline transportation is widely used in nuclear industry, oil coal, the social people as a kind of efficient fluid transport means
Raw various aspects.However since the characteristic of pipe sealing causes the work such as detection flaw detection, maintenance, dredging cumbersome.
Need the pipelines internal environment difference such as the Oil and Natural Gas Transportation Pipeline often cleared up, city aqueduct, factory's blow-off line
Larger, required cleaning mode is also different, and being smoothed out for pipeline cleaning work is further aggravated.
It has been investigated that existing cleaning products are primarily present cumbersome, serious waste of resources；Do not adapt to multiple diameter
Pipeline, the problems such as poor universality, accommodative ability of environment is poor.
Invention content
The purpose of the present invention is to provide a kind of travelling device in pipe, main to solve cleaning products in the prior art
There are cumbersome, serious waste of resources；The pipeline of multiple diameter, poor universality are not adapted to, and accommodative ability of environment difference is asked
Topic.
Another object of the present invention is to provide a kind of pipeline cleaning robots with above-mentioned travelling device in pipe.
What the embodiment of the present invention was realized in：
A kind of travelling device in pipe comprising driving mechanism；Walking mechanism, walking mechanism connect with driving mechanism transmission
It connects；Supporting mechanism, supporting mechanism are sequentially connected with driving mechanism, and supporting mechanism is movably connected with walking mechanism, support machine
Structure is configured to the driving by driving mechanism so that walking mechanism is with the working condition of inner wall of being tightly attached to pipeline and separate
The debugging mode of the inner wall of pipeline.
The travelling device in pipe provided in the embodiment of the present invention, the travelling device in pipe adapt to different-diameter
Pipeline, effectively cleaning inner-walls of duct.Travelling device in pipe includes driving mechanism, walking mechanism and supporting mechanism.Walking
Movement is completed in mechanism and the equal driven-mechanism driving of supporting mechanism.Specifically, walking mechanism is sequentially connected with driving mechanism, branch
Support mechanism is sequentially connected with driving mechanism, and supporting mechanism is movably connected with walking mechanism, is driven and is supported by driving mechanism
Mechanism kinematic makes walking mechanism and supporting mechanism that relative motion variation occur, to supporting mechanism change walking mechanism relative to
The position relationship of driving mechanism, so that walking mechanism has the working condition of inner wall for being tightly attached to pipeline to be cleaned and separate
The debugging mode of the inner wall of pipeline, when walking mechanism is in running order, by the driving of driving mechanism, walking mechanism passes through
Friction with inner wall of the pipe is so that entire travelling device in pipe moves in pipeline, when walking mechanism is in debugging mode
When, that is, when inner wall of the walking mechanism far from pipeline is close to driving mechanism, the volume-diminished of entire travelling device in pipe.Pass through
The conversion of debugging mode and working condition so that travelling device in pipe adapts to the pipeline of different-diameter, effectively cleaning pipe
Road inner wall.
In one embodiment of the invention：
Above-mentioned travelling device in pipe, including：
At least three walking mechanisms, at least three walking mechanisms around driving mechanism axis interval setting and respectively with driving
Mechanism driving connects；
At least three supporting mechanisms, at least three supporting mechanisms are movably connected with walking mechanism respectively.
In one embodiment of the invention：
Above-mentioned driving mechanism includes driving motor and clutch；
Clutch is set between driving motor and supporting mechanism, and supporting mechanism is connected by clutch and driving motor transmission
It connects.
In one embodiment of the invention：
The encoder for detecting driving motor rotating speed is connected at the output shaft of above-mentioned driving motor.
In one embodiment of the invention：
Above-mentioned clutch is made of normally closed slip clutch.
In one embodiment of the invention：
Above-mentioned supporting mechanism includes regulating mechanism, first support bar and second support bar；
First support bar and second support bar are rotatablely arranged at the opposite both ends of driving mechanism respectively；
Both ends opposite with walking mechanism can turn respectively for the one end of first support bar and second support bar far from driving mechanism
It connects dynamicly；
Regulating mechanism is sequentially connected with driving mechanism, and the one end of regulating mechanism far from driving mechanism can turn with first support bar
It connects dynamicly；
Driving mechanism drives regulating mechanism to be moved back and forth along preset direction, adjusts first support bar relative to driving mechanism
Position is so that walking mechanism has working condition and debugging mode.
In one embodiment of the invention：
Above-mentioned regulating mechanism includes lead screw, lead screw nut, sliding block, guide rail and rotating bar；
Lead screw is arranged with guide rail along preset direction interval, and lead screw is sequentially connected with driving mechanism；
Lead screw nut is set on sliding block, and lead screw nut coordinates with wire rod thread, and sliding block is slidably disposed on guide rail；
The opposite both ends of rotating bar are rotatablely arranged at respectively in sliding block and first support bar.
In one embodiment of the invention：
Elastic component is provided between above-mentioned lead screw nut and sliding block, lead screw nut passes through elastic component and sliding block elastic transmission.
In one embodiment of the invention：
Above-mentioned elastic component is equipped with pressure sensor with slider contact surface, and travelling device in pipe further includes control device, control
Device processed is electrically connected with pressure sensor, and control device is electrically connected with driving mechanism.
A kind of pipeline cleaning robot comprising any one of the above travelling device in pipe.
The advantageous effect of the embodiment of the present invention is：
The travelling device in pipe provided in the embodiment of the present invention, the travelling device in pipe adapt to different-diameter
Pipeline, effectively cleaning inner-walls of duct.Travelling device in pipe includes driving mechanism, walking mechanism and supporting mechanism.Walking
Movement is completed in mechanism and the equal driven-mechanism driving of supporting mechanism.Specifically, walking mechanism is sequentially connected with driving mechanism, branch
Support mechanism is sequentially connected with driving mechanism, and supporting mechanism is movably connected with walking mechanism, is driven and is supported by driving mechanism
Mechanism kinematic makes walking mechanism and supporting mechanism that relative motion variation occur, to supporting mechanism change walking mechanism relative to
The position relationship of driving mechanism, so that walking mechanism has the working condition of inner wall for being tightly attached to pipeline to be cleaned and separate
The debugging mode of the inner wall of pipeline, when walking mechanism is in running order, by the driving of driving mechanism, walking mechanism passes through
Friction with inner wall of the pipe is so that entire travelling device in pipe moves in pipeline, when walking mechanism is in debugging mode
When, that is, when inner wall of the walking mechanism far from pipeline is close to driving mechanism, the volume-diminished of entire travelling device in pipe.Pass through
The conversion of debugging mode and working condition so that travelling device in pipe adapts to the pipeline of different-diameter, effectively cleaning pipe
Road inner wall.
The travelling device in pipe provided in the embodiment of the present invention, the travelling device in pipe adapt to different-diameter
Pipeline, effectively cleaning inner-walls of duct.Travelling device in pipe includes driving mechanism, walking mechanism and supporting mechanism.Walking
Movement is completed in mechanism and the equal driven-mechanism driving of supporting mechanism.Specifically, walking mechanism is sequentially connected with driving mechanism, branch
Support mechanism is sequentially connected with driving mechanism, and supporting mechanism is movably connected with walking mechanism, is driven and is supported by driving mechanism
Mechanism kinematic makes walking mechanism and supporting mechanism that relative motion variation occur, to supporting mechanism change walking mechanism relative to
The position relationship of driving mechanism, so that walking mechanism has the working condition of inner wall for being tightly attached to pipeline to be cleaned and separate
The debugging mode of the inner wall of pipeline, when walking mechanism is in running order, by the driving of driving mechanism, walking mechanism passes through
Friction with inner wall of the pipe is so that entire travelling device in pipe moves in pipeline, when walking mechanism is in debugging mode
When, that is, when inner wall of the walking mechanism far from pipeline is close to driving mechanism, the volume-diminished of entire travelling device in pipe.Pass through
The conversion of debugging mode and working condition so that travelling device in pipe adapts to the pipeline of different-diameter, effectively cleaning pipe
Road inner wall.
Pipeline cleaning robot provided by the invention, including above-mentioned travelling device in pipe, therefore also have above-mentioned
Advantageous effect.
Description of the drawings
For the clearer technical solution for illustrating the embodiment of the present invention, below to needing attached drawing to be used to make in embodiment
It is simple to introduce.It should be appreciated that the following drawings illustrates only the certain embodiments of the present invention, it is not construed as to model of the present invention
The limitation enclosed.To those skilled in the art, without creative efforts, it can obtain according to these attached drawings
Obtain other accompanying drawings.
Fig. 1 is the overall structure diagram for the travelling device in pipe that the embodiment of the present invention 1 provides；
Fig. 2 is the structural schematic diagram of driving mechanism, walking mechanism and supporting mechanism in the embodiment of the present invention 1；
Fig. 3 is the structural schematic diagram of regulating mechanism in the embodiment of the present invention 1；
Fig. 4 is the rough schematic view for the travelling device in pipe that the embodiment of the present invention 1 provides.
Icon：10- travelling device in pipe；20- driving mechanisms；The first output ends of 21-；22- second output terminals；23- drives
Dynamic motor；24- clutches；30- walking mechanisms；40- supporting mechanisms；41- first support bars；42- second support bars；43- is adjusted
Mechanism；430- lead screws；431- lead screw nuts；432- sliding blocks；433- guide rails；434- rotating bars；435- elastic components；436- snap rings.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with attached drawing, to the present invention
Technical solution in embodiment carries out clear, complete description.Obviously, described embodiment is that the part of the present invention is implemented
Example, instead of all the embodiments.
Therefore, the model of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention below
It encloses, but is merely representative of the section Example of the present invention.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
There is the every other embodiment obtained under the premise of making creative work, shall fall within the protection scope of the present invention.
It should be noted that in the absence of conflict, the feature and technology in embodiment and embodiment in the present invention
Scheme can be combined with each other.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term " first ", " second " etc. are only used for distinguishing description, without
It can be interpreted as indicating or implying relative importance.
Embodiment 1：
Fig. 1 is the overall structure diagram for the travelling device in pipe 10 that the embodiment of the present invention 1 provides, and Fig. 2 is the present invention
The structural schematic diagram of driving mechanism 20, walking mechanism 30 and supporting mechanism 40 in embodiment 1.It please refers to Fig. 1 and combines Fig. 2,
The present embodiment provides a kind of travelling device in pipe 10, which adapts to the pipeline of different-diameter, effectively
Ground cleaning inner-walls of duct.It includes driving mechanism 20, walking mechanism 30 and supporting mechanism 40.
Walking mechanism 30, walking mechanism 30 are sequentially connected with driving mechanism 20；Supporting mechanism 40, supporting mechanism 40 and driving
Mechanism 20 is sequentially connected, and supporting mechanism 40 is movably connected with walking mechanism 30, and supporting mechanism 40 is configured to pass through driving
The driving of mechanism 20 is so that walking mechanism 30 has the tune of the working condition for the inner wall for being tightly attached to pipeline and the inner wall far from pipeline
Examination state.
It should be noted that working condition means position of the walking mechanism 30 relative to driving mechanism 20 with debugging mode
Relationship, walking mechanism 30 drive entire travelling device in pipe 10 to move in the duct under the driving of driving mechanism 20, pass through
The control of supporting mechanism 40 so that walking mechanism 30 switches between working condition and debugging mode, adapts to the pipe of different-diameter
Road.
In the present embodiment, driving mechanism 20 has opposite the first output end 21 and second output terminal 22.Walking mechanism
30 and first output end 21 be sequentially connected.Supporting mechanism 40 is sequentially connected with second output terminal 22, supporting mechanism 40 and vehicle with walking machine
Structure 30 is movably connected.It should be noted that the present embodiment only provide above-mentioned driving mechanism 20 and walking mechanism 30 and
The drive position relationship of supporting mechanism 40 and driving mechanism 20, in other specific implementation modes, driving mechanism 20 can only have
The drive position relationship of one output end or multiple output ends, walking mechanism 30 and supporting mechanism 40 and driving mechanism 20 is not
It is limited.
In the present embodiment, the stability and restriction for guarantee travelling device in pipe 10 in inner wall of the pipe walking posture
It is located at pipeline center position：
Travelling device in pipe 10 includes in the present embodiment：At least three walking mechanisms 30 and at least three supporting mechanisms
40, at least three walking mechanisms 30 are around the setting of the axis interval of driving mechanism 20 and are sequentially connected respectively with driving mechanism 20.Extremely
Few three supporting mechanisms 40 are movably connected with walking mechanism 30 and are supported to walking mechanism 30 respectively.Specifically, exist
In the present embodiment, travelling device in pipe 10 includes three walking mechanisms 30 and three supporting mechanisms 40.
Further, referring to FIG. 2, Fig. 2 shows driving mechanism 20, walking mechanism 30 and support machines in the present embodiment
The concrete structure of structure 40.
Such as figure, driving mechanism 20 includes driving motor 23 and clutch 24, and clutch 24 is set to driving motor 23 and branch
Between support mechanism 40, supporting mechanism 40 is sequentially connected by clutch 24 and driving motor 23.It should be noted that passing through clutch
Device 24 is sequentially connected controlling supporting mechanism 40 and driving motor 23 and disconnects between supporting mechanism 40 and driving motor 23
It is sequentially connected so that supporting mechanism 40 keeps current location status, so that walking mechanism 30 keeps current shape
State, that is, so that walking mechanism 30 is held against the debugging mode of the working condition in the inner wall of pipeline and the inner wall far from pipeline,
After walking mechanism 30 is by debugging, when meeting with clean line size, cut-off clutch 24 so that walking mechanism 30 can protect
Hold the working condition in the inner wall for being tightly attached to pipeline.
Specifically, in the present embodiment, it is connected at the output shaft of driving motor 23 for detecting driving motor 23
The encoder of rotating speed.The rotating speed that encoder is arranged convenient for constantly detection driving motor 23 is used for calculating robot's speed of travel, together
When prevent 23 stall of driving motor from burning.
Specifically, in the present embodiment, clutch 24 is made of normally closed slip clutch.Slip clutch can limit
Surely torque is transmitted, when torque is more than that then clutch 24 is in sliding friction state, 30 safety of guarantee walking mechanism to certain value.
Fig. 3 is the structural schematic diagram of regulating mechanism 43 in the embodiment of the present invention 1；Fig. 4 is the pipe that the embodiment of the present invention 1 provides
The rough schematic view of running gear 10 in road.It please refers to Fig. 3 and combines Fig. 4, specifically, supporting mechanism 40 includes regulating mechanism
43, first support bar 41 and second support bar 42.
First support bar 41 and second support bar 42 are rotatablely arranged at the opposite both ends of driving mechanism 20 respectively.First
Both ends opposite with walking mechanism 30 are rotationally respectively for the one end of supporting rod 41 and second support bar 42 far from driving mechanism 20
Connection.Wherein, first support bar 41, second support bar 42, walking mechanism 30 and driving mechanism 20 collectively form four bar connecting rods
Mechanism can change vehicle with walking machine by changing the angle between first support bar 41 and second support bar 42 and driving mechanism 20
Position relationship of the structure 30 relative to driving mechanism 20, so that walking mechanism 30 has working condition and debugging mode.
Regulating mechanism 43 and driving mechanism 20 are sequentially connected, the one end of regulating mechanism 43 far from driving mechanism 20 with first
Strut 41 is rotatably coupled.
Driving mechanism 20 drives regulating mechanism 43 to be moved back and forth along preset direction, adjusts first support bar 41 relative to driving
The position of mechanism 20, that is, relative to the angle of driving mechanism 20, so that walking mechanism 30 has working condition and debugging shape
State.It should be noted that preset direction refers to the output shaft axial direction of driving mechanism 20.
It should be noted that in the present embodiment, there are three walking mechanism 30 and three supporting mechanisms 40 for tool, to ensure to tie
The simplification of structure, three supporting mechanisms 40 refer to three first support bars 41 and three second support bars 42 in the present embodiment, and three
Part first support bar 41 and three second support bars 42 support three walking mechanisms 30 respectively, and three first support bars 41 are equal
It is set on a regulating mechanism 43, passes through the adjusting of a regulating mechanism 43 so that three walking mechanisms 30 are moved with amplitude.
Regulating mechanism 43 includes lead screw 430, lead screw nut 431, sliding block 432, guide rail 433 and rotating bar 434.
Lead screw 430 is arranged with guide rail 433 along preset direction interval, and lead screw 430 is sequentially connected with driving mechanism 20.Lead screw spiral shell
Cap 431 is set on sliding block 432, and lead screw nut 431 and 430 screw-thread fit of lead screw, sliding block 432 are slidably disposed in guide rail
On 433.
The opposite both ends of rotating bar 434 are rotatablely arranged at respectively in sliding block 432 and first support bar 41, specifically,
In the present embodiment, three rotating bars 434 are respectively arranged in three first support bars 41.
Three rotating bars, 434, three first support bars 41 and sliding block 432 collectively form umbrella-shaped structure, pass through sliding block 432
Reciprocating motion, may make first support bar 41 to strut or store, so that walking mechanism 30 is in working condition and debugging
Switch between state.To make the umbrella-shaped structure that there is certain elasticity, prevent due to internal diameter of the pipeline slight change or sundries and
The case where stuck travelling device in pipe 10, occurs, and elastic component 435, lead screw spiral shell are provided between lead screw nut 431 and sliding block 432
Cap 431 passes through elastic component 435 and 432 elastic transmission of sliding block.
It should be noted that in other specific implementation modes, elastic component 435 is passed with 432 contact surface of sliding block equipped with pressure
Sensor, more than a certain size, then feedback information drives pressure to control system, control system control after elastic component 435 compresses completely
Motivation structure 20 so that lead screw 430 inverts, and releases stress.It should be noted that in the present embodiment, it is additionally provided with snap ring 436,
Snap ring 436 is used to limit the motion range of sliding block 432.
It should be noted that walking mechanism 30 is creeper undercarriage 30, which passes through chain, worm screw
And worm gear realizes the drive connection with driving mechanism 20.
Body, it should be noted that ensure the torque of output, in driving mechanism 20 and walking mechanism 30 and support machine
Retarder can also be set between structure 40.
The travelling device in pipe 10 provided in the embodiment of the present invention, the travelling device in pipe 10 adapt to different straight
The pipeline of diameter, effectively cleaning inner-walls of duct.Travelling device in pipe 10 includes driving mechanism 20, walking mechanism 30 and support
Mechanism 40.Movement is completed in walking mechanism 30 and the driving of 40 equal driven-mechanism 20 of supporting mechanism.Specifically, walking mechanism 30 with
Driving mechanism 20 is sequentially connected, and supporting mechanism 40 is sequentially connected with driving mechanism 20, and supporting mechanism 40 can live with walking mechanism 30
It connects dynamicly, drives supporting mechanism 40 to move by driving mechanism 20 so that with supporting mechanism 40 opposite transport occurs for walking mechanism 30
Dynamic variation, to which supporting mechanism 40 changes position relationship of the walking mechanism 30 relative to driving mechanism 20, so that vehicle with walking machine
Structure 30 has the debugging mode of the working condition for the inner wall for being tightly attached to pipeline to be cleaned and the inner wall far from pipeline, works as walking mechanism
30 it is in running order when, by the driving of driving mechanism 20, walking mechanism 30 by the friction with inner wall of the pipe so that
Entire travelling device in pipe 10 moves in pipeline, when walking mechanism 30 is in debugging mode, that is, walking mechanism 30 is separate
When the inner wall of pipeline is close to driving mechanism 20, the volume-diminished of entire travelling device in pipe 10.Pass through debugging mode and work
The conversion of state so that travelling device in pipe 10 adapts to the pipeline of different-diameter, effectively cleaning inner-walls of duct.
Embodiment 2：
The present embodiment provides a kind of pipeline cleaning robots, including above-mentioned travelling device in pipe 10.
Pipeline cleaning robot provided by the invention, due to including above-mentioned travelling device in pipe 10, also having
Above-mentioned advantageous effect.
Obviously, the above embodiment of the present invention is just for the sake of clearly illustrating examples made by the present invention, and it is pair to be not
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement etc., should be included in the claims in the present invention made by within the spirit and principle of invention
Protection domain within.
Claims (10)
1. a kind of travelling device in pipe, which is characterized in that including：
Driving mechanism；
Walking mechanism, the walking mechanism are sequentially connected with the driving mechanism；
Supporting mechanism, the supporting mechanism are sequentially connected with the driving mechanism, and the supporting mechanism can with the walking mechanism
It is movably connected with, the supporting mechanism is configured to make walking mechanism has to be tightly attached to pipe by the driving of the driving mechanism
The debugging mode of the inner wall of the working condition of the inner wall in road and the separate pipeline.
2. travelling device in pipe according to claim 1, which is characterized in that including：
At least three walking mechanisms, at least three walking mechanisms are arranged and divide around the axis interval of the driving mechanism
It is not sequentially connected with the driving mechanism；
At least three supporting mechanisms, at least three supporting mechanisms are movably connected with the walking mechanism respectively.
3. travelling device in pipe according to claim 1, which is characterized in that
The driving mechanism includes driving motor and clutch；
The clutch is set between the driving motor and the supporting mechanism, and the supporting mechanism passes through the clutch
It is sequentially connected with the driving motor.
4. travelling device in pipe according to claim 3, which is characterized in that
The encoder for detecting the driving motor rotating speed is connected at the output shaft of the driving motor.
5. travelling device in pipe according to claim 3, which is characterized in that
The clutch is made of normally closed slip clutch.
6. travelling device in pipe according to claim 1, which is characterized in that
The supporting mechanism includes regulating mechanism, first support bar and second support bar；
The first support bar and the second support bar are rotatablely arranged at the opposite both ends of the driving mechanism respectively；
The one end of the first support bar and the second support bar far from the driving mechanism respectively with the walking mechanism phase
To both ends be rotatably coupled；
The regulating mechanism is sequentially connected with the driving mechanism, the regulating mechanism one end and institute far from the driving mechanism
First support bar is stated to be rotatably coupled；
The driving mechanism drives the regulating mechanism to be moved back and forth along preset direction, adjusts the first support bar relative to institute
The position of driving mechanism is stated so that walking mechanism has the working condition and the debugging mode.
7. travelling device in pipe according to claim 6, which is characterized in that
The regulating mechanism includes lead screw, lead screw nut, sliding block, guide rail and rotating bar；
The lead screw is arranged with the guide rail along the preset direction interval, and lead screw is sequentially connected with the driving mechanism；
The lead screw nut is set on the sliding block, and the lead screw nut coordinates with the wire rod thread, and the sliding block can be slided
It is set to dynamicly on the guide rail；
The opposite both ends of the rotating bar are rotatablely arranged at respectively in the sliding block and the first support bar.
8. travelling device in pipe according to claim 7, which is characterized in that
Elastic component is provided between the lead screw nut and the sliding block, the lead screw nut passes through the elastic component and the cunning
Block elastic transmission.
9. travelling device in pipe according to claim 8, which is characterized in that
The elastic component is equipped with pressure sensor with the slider contact surface, and the travelling device in pipe further includes control dress
It sets, the control device is electrically connected with the pressure sensor, and the control device is electrically connected with the driving mechanism.
10. a kind of pipeline cleaning robot, which is characterized in that the pipeline cleaning robot includes that claim 1 to 9 is any one
Travelling device in pipe described in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810191916.8A CN108302282A (en) | 2018-03-08 | 2018-03-08 | A kind of travelling device in pipe and pipeline cleaning robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810191916.8A CN108302282A (en) | 2018-03-08 | 2018-03-08 | A kind of travelling device in pipe and pipeline cleaning robot |
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Cited By (8)
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| CN110026593A (en) * | 2019-05-24 | 2019-07-19 | 重庆文理学院 | Pipeline-weld Xiao Xi robot |
| CN110260094A (en) * | 2019-05-30 | 2019-09-20 | 国网浙江宁波市鄞州区供电有限公司 | Walking type pipeline length-measuring appliance |
| CN110539810A (en) * | 2019-09-26 | 2019-12-06 | 成都理工大学 | Marine organism clearing device for diversion culvert of nuclear power station |
| CN110762335A (en) * | 2019-09-23 | 2020-02-07 | 北京建筑大学 | Control method of pipeline inspection robot |
| CN113290481A (en) * | 2021-06-21 | 2021-08-24 | 枣庄青柠檬文化创意有限公司 | Automatic rust cleaning grinding device of pipeline inner wall |
| CN115055458A (en) * | 2022-06-16 | 2022-09-16 | 山东大学 | Movable supporting device in pipeline and pipeline cleaning equipment |
| CN115228858A (en) * | 2022-07-22 | 2022-10-25 | 深圳市精灵机器人自动化有限公司 | Pipeline cleaning robot |
| CN115352179A (en) * | 2022-08-17 | 2022-11-18 | 浙江创丰环保科技有限公司 | Continuous high-efficient various steel sheet rendition equipment |
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