CN108533883B

CN108533883B - Pipeline robot adapting to various pipe diameters through wheel assembly and disassembly system

Info

Publication number: CN108533883B
Application number: CN201810731721.8A
Authority: CN
Inventors: 黄浩; 黄维; 晏素; 张教赟; 关琦; 许道云; 卜苏华
Original assignee: Nanjing Polytechnic Institute
Current assignee: Nanjing Polytechnic Institute
Priority date: 2018-07-05
Filing date: 2018-07-05
Publication date: 2023-09-19
Anticipated expiration: 2038-07-05
Also published as: CN108533883A

Abstract

The application relates to a pipeline robot, in particular to a pipeline robot which adapts to various pipe diameters through the assembly and disassembly of a wheel system. The application provides a pipeline robot adapting to various pipe diameters through a wheel assembly and disassembly system, which comprises a first wheel (2), wherein a group of second wheels (9) with larger diameters than those of the first wheel (2) are externally connected on the first wheel (2). The pipeline robot adapting to various pipe diameters through the wheel assembly and disassembly system is externally connected with rubber wheels of different specifications according to different pipe diameters to adapt to the pipes, the wheels can be quickly assembled and disassembled and replaced on the construction site for the pipes of different specifications, the disassembly and assembly process is simple, the required tools are single and universal, and workers can replace the inflatable rubber wheels of different specifications on the site without any training.

Description

Pipeline robot adapting to various pipe diameters through wheel assembly and disassembly system

Technical Field

The application relates to a pipeline robot, in particular to a pipeline robot which adapts to various pipe diameters through the assembly and disassembly of a wheel system.

Background

The pushing of the pipeline robot replaces the manual well-down maintenance, dirt cleaning and other works. The conditions of manual well logging are more limited, for example, manual work can only enter a main pipeline with the diameter not smaller than 1 meter, and toxic and harmful gases and the like cannot exist in the pipeline. When workers need to overhaul or clean the pipeline, the water at the upstream of the pipeline is blocked, and then the water in the pipeline is pumped to be dry, so that the workers can go into the well. And there is also an unpredictable risk of manual tripping. And the pipeline robot can enter a small pipeline which cannot be manually accessed. The robot has the waterproof grade of IP68 and can work in an underwater environment of 10 meters without blocking up the up-flowing water during the work. The camera on the robot feeds back the image in the pipeline in real time, and the sensor can measure the existing gas, the current water flow speed and the like. Not only can the functions of manual implementation be realized, but also the functions which cannot be realized by manual operation such as ultrasonic flaw detection, laser ranging, internal gas detection and the like can be realized. When the repair work is carried out on the inside of the pipeline, the maintenance in a non-cutting mode is realized. Compared with manual excavation, the method has the advantages that the input manpower, material resources and financial resources are fewer, and the traffic is not influenced. But domestic plumbing is not of a uniform size. And (3) pipelines with different specifications are subjected to construction sites.

Disclosure of Invention

1. The technical problems to be solved are as follows:

the domestic pipeline specifications and sizes are not uniform, and pipeline robots cannot cope with pipelines of different specifications.

2. The technical scheme is as follows:

in order to solve the above problems, the present application provides a pipe robot adapted to various pipe diameters through a wheel mounting and dismounting system, comprising a first wheel 2, and a group of second wheels 9 with larger diameters than the first wheel 2 are externally connected to the first wheel 2.

The first wheel 2 is an encapsulated rubber wheel.

The second wheel 9 comprises an inner side hub piece 5, a rubber strip and an outer side hub piece 10, wherein the rubber strip is arranged between the inner side hub piece 5 and the outer side hub piece 10, the inner side hub piece 5 and the outer side hub piece 10 clamp the rubber strip through screw pieces, and the first wheel 2 and the second wheel are connected through a transition plate 3.

The rubber strip is a pneumatic tire.

One end of the transition plate 3 is provided with a plurality of pin-shaped bosses which are matched with corresponding holes on the hub of the first wheel 2, and the other end of the transition plate 3 is matched with the holes of the inner hub piece 5 by adopting double milling flat bosses.

The second wheel 9 is fixedly connected with the transition plate 3 and the first wheel 2.

The fixed connection is through screw fixed connection.

And a sundry baffle plate 1 is also arranged and fixedly connected to a cover plate of the pipeline robot. Is connected with the first wheel 2.

The end face of the sundry baffle 1 is flush with the end face of the first wheel 2. The outer diameter is 1-3mm smaller than the inner hole diameter of the hub of the first wheel 2.

A plurality of drain holes are uniformly distributed on the sundry baffle plate 1.

3. The beneficial effects are that:

the pipeline robot adapting to various pipe diameters through the wheel assembly and disassembly system is externally connected with rubber wheels of different specifications according to different pipe diameters to adapt to the pipes, the wheels can be quickly assembled and disassembled and replaced on the construction site for the pipes of different specifications, the disassembly and assembly process is simple, the required tools are single and universal, and workers can replace the inflatable rubber wheels of different specifications on the site without any training.

Drawings

FIG. 1 is a schematic diagram of the structure of the present application.

Fig. 2 is a perspective view of the structure of the present application.

Detailed Description

The present application will be described in detail with reference to the accompanying drawings.

Wheels belong to the crawling part of the pipeline robot. The size of the wheels determines the height position of the robot in the pipeline. The camera on the robot is provided with a proper height position in the pipeline to capture the picture inside the pipeline. The application provides a pipeline robot which is suitable for various pipe diameters through a wheel assembly and disassembly system, wherein a plurality of pipelines with different sizes are arranged on a construction site, and the pipeline robot comprises a first wheel 2, and a group of second wheels 9 with diameters larger than those of the first wheel 2 are externally connected on the first wheel 2.

The mechanism has the advantages of being capable of realizing quick disassembly and assembly of the external connecting wheel, simple in disassembly and assembly process, and single and universal in tool to be used. The workers can replace wheels with different specifications on site without any training. Meanwhile, the working efficiency is high by using a method of externally connecting a group of wheels.

The first wheel 2 is an encapsulated rubber wheel. The rubber wheel can enable the wheel to be in stable contact with the pipeline, the robot is not easy to turn on one's side, and the camera on the robot can be provided with a proper height position in the pipeline.

It can be seen that the external wheel, namely the second wheel and the pipeline robot self-belt wheel, has a simple connection structure of the first wheel.

The rubber strip is a pneumatic tire. The rubber strip part is a pneumatic tire with 8 inch, 10 inch or larger type which is commonly used in the market, and has the advantages of interchangeability, low cost and the like. When the pneumatic tire is installed, only the inner hub piece and the outer hub piece of the two hubs are connected and clamped by the screw piece. The group of larger-specification inflatable rubber wheels is connected with the rubber-covered rubber wheels on the pipeline robot by screws. And after the inflatable rubber tire is inflated, the tire can better contact with the hub piece after being inflated, and the motion is transmitted.

One end of the transition plate 3 is provided with a plurality of pin-shaped bosses which are matched with corresponding holes on the hub of the first wheel 2, so that the functions of positioning and transmitting torque are achieved. The other end of the transition plate 3 is matched with the hole of the inner side hub piece 5 by adopting a double milling flat boss. The inflatable rubber wheel realizes the fixation of the axial direction and the circumferential direction. The transition plate ensures concentricity of the two sets of wheels and also transfers rotation of one set of rubber covered wheels on the inner side to the other set of larger inflatable rubber wheels.

The second wheel 9 is fixedly connected with the transition plate 3 and the first wheel 2. The external inflatable rubber wheel and the transition plate are axially fixed.

The fixed connection is through screw fixed connection.

Function of sundry baffle: 1. through a certain position assembly relation, sundries such as small stones and small bricks are blocked from entering the rubber wheel for rubber coating. 2. The rubber coating rubber wheel rotates by utilizing the fixation of the sundries blocking plate, so that the easy-to-wind objects such as hair wires and ropes are prevented from entering the rubber coating rubber wheel. 3. Evenly distributed holes drain water and sludge entering the rubber wheel.

The end face of the sundry baffle 1 is flush with the end face of the first wheel 2. The outer diameter is 1-3mm smaller than the inner hole diameter of the hub of the first wheel 2. The gap can prevent blocky garbage such as stones and small bricks from falling into the rubber wheel for rubber coating. The debris blocking plate and the rubber covered wheel do not rotate together, and such a relative movement prevents hair and strings from winding inside the rubber covered wheel. Such impurities which are easily wound on the rubber-coated rubber wheel easily cause the rubber-coated rubber wheel to be blocked.

A plurality of drain holes are uniformly distributed on the sundry baffle plate 1. The function is to drain the water from the gap into the rubber wheel. In the drainage process, the rubber-coated rubber wheel rotates, and the sundry baffle is static, so that sludge in the rubber-coated rubber wheel can be brought out.

The specific external wheel is installed as follows:

step one, the rubber-coated rubber wheel and the transition plate are circumferentially fixed by inserting 3 bosses uniformly distributed with pins on the transition plate into 3 uniform distribution holes of the rubber-coated rubber wheel hub.

And step two, connecting the inner hub piece and the outer hub piece by using 3 uniformly distributed screws, and clamping the inflatable rubber wheel between the two hubs. The two hub pieces are connected by the inner hexagon screw and the nut with the flange to play a role in preventing looseness. After the tyre is assembled, the tyre is inflated, and the tyre is inflated to be in better contact with the hub plate to transfer motion.

And thirdly, fixing and connecting the assembled inflatable rubber wheel with the transition plate and the rubber-coated rubber wheel by using 3 uniformly distributed screws, so as to realize the axial fixation of the external inflatable rubber wheel and the transition plate.

While the application has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the application, and it is intended that the scope of the application shall be defined by the appended claims.

Claims

1. Pipeline robot that adapts to various pipe diameters through wheel system of installing and removing, including first wheel (2), its characterized in that: the novel wheel comprises a first wheel (2), a group of second wheels (9) with the diameter larger than that of the first wheel (2) are externally connected onto the first wheel (2), the first wheel (2) is a rubber-coated rubber wheel, the second wheel (9) comprises an inner side hub piece (5), a rubber strip and an outer side hub piece (10), the rubber strip is arranged between the inner side hub piece (5) and the outer side hub piece (10), the inner side hub piece (5) and the outer side hub piece (10) clamp the rubber strip through screw pieces, the first wheel (2) is connected with the second wheel through a transition plate (3), a plurality of pin-shaped bosses are arranged at one end of the transition plate (3) and matched with corresponding holes on the hub of the first wheel (2), and the other end of the transition plate (3) is matched with the holes of the inner side hub piece (5) through double-milling flat bosses.

2. The pipe robot adapted to various pipe diameters by a wheel mounting and dismounting system as claimed in claim 1, wherein: the rubber strip is a pneumatic tire.

3. The pipe robot adapted to various pipe diameters by a wheel mounting and dismounting system as claimed in claim 1, wherein: the second wheel (9) is fixedly connected with the transition plate (3) and the first wheel (2).

4. A pipe robot adapted to various pipe diameters by a wheel mounting and dismounting system as claimed in claim 3, wherein: the fixed connection is through screw fixed connection.

5. A pipeline robot adapted to various pipe diameters by a wheel mounting and dismounting system as claimed in claim 1 or 2, wherein: the pipeline robot is also provided with a sundry baffle (1) fixedly connected to a cover plate of the pipeline robot and connected with the first wheel (2).

6. The pipe robot adapted to various pipe diameters by a wheel mounting and dismounting system as claimed in claim 5, wherein: the end face of the sundry baffle (1) is flush with the end face of the first wheel (2), and the outer diameter of the sundry baffle is 1-3mm smaller than the diameter of an inner hole of a hub of the first wheel (2).

7. The pipe robot adapted to various pipe diameters by a wheel mounting and dismounting system as claimed in claim 5, wherein: a plurality of drain holes are uniformly distributed on the sundry baffle (1).