CN109140112A - Pipe robot and pipe detection system - Google Patents
Pipe robot and pipe detection system Download PDFInfo
- Publication number
- CN109140112A CN109140112A CN201811095702.7A CN201811095702A CN109140112A CN 109140112 A CN109140112 A CN 109140112A CN 201811095702 A CN201811095702 A CN 201811095702A CN 109140112 A CN109140112 A CN 109140112A
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- China
- Prior art keywords
- fixing seat
- guide rod
- pipe robot
- pedipulator
- gear
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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
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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
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to pipe robot and pipe detection systems.Pipe robot includes the first fixing seat, the second fixing seat, guide rod, mechanical leg assembly and diameter changing mechanism for walking；First fixing seat is coaxial with the second fixing seat and is spaced setting, and the first end of guide rod connects the first fixing seat, and the second end of guide rod passes through the second fixing seat, and the second fixing seat can slide axially along guide rod；Mechanical leg assembly is equipped at least three, and each machinery leg assembly includes pedipulator and the strut hinged with pedipulator, and one of pedipulator and strut and the first fixing seat are hinged, and another one and the second fixing seat are hinged；Diameter changing mechanism includes elastic element and stop part；The second end of guide rod is arranged in stop part, and elastic element is arranged on the guide bar and between stop part and the second fixing seat.The present invention is by the adjusting of diameter changing mechanism so that pipe robot has enough pressure to inner wall of the pipe in different tube diameters, so that pipe robot is adapted to different tube diameters variation.
Description
Technical field
The present invention relates to pipeline inspection technology fields, more specifically to a kind of pipe robot and pipe detection system
System.
Background technique
The difference for the power source that existing pipe robot moves in the duct according to robot is divided into passive type and active
Formula two types, wherein the pipe robot of passive type mainly has that hard cable drive-in, fluids within pipes are driving etc., and leads
The pipe robot of dynamic formula itself has movement mechanism, by different its of movement mechanism can be divided into again bionic movement formula, crawler type,
Helical driving type, vehicle type and support wheel type etc. are several.Wheeled pipe robot again because move the features such as steady, driving is simple at
For the dominant form of current pipe detection class robot.
What industrial pipeline detection field was most widely used at present is that passive type hard cable promotes humanoid robot (to be also work
Sight glass in the industry) and vehicle type robot.Its obvious deficiency of industrial endoscope is that detecting distance is limited, and pipeline adaptability is not
By force, limited to the pipe detection ability of complicated pipeline arrangement；And vehicle type robot does not have vertical climbing ability, general volume
It is larger.
Summary of the invention
The technical problem to be solved in the present invention is that providing the pipe robot and pipe detection system of a kind of reducing.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of pipe robot, the pipeline machine
People includes the first fixing seat, the second fixing seat, guide rod, mechanical leg assembly and diameter changing mechanism for walking；
First fixing seat is coaxial with the second fixing seat and is spaced setting, the first end of guide rod connection described the
The second end of one fixing seat, the guide rod passes through second fixing seat, and second fixing seat can be along the guide rod
It slides axially；
The machinery leg assembly is equipped at least three, each mechanical leg assembly include pedipulator and with the machinery
The hinged strut of leg, and one of the pedipulator and strut and first fixing seat are hinged, another one and described second
Fixing seat is hinged；
The diameter changing mechanism includes elastic element and stop part；The second end of the guide rod is arranged in the stop part,
The elastic element is set on the guide rod and between the stop part and the second fixing seat.
Preferably, in pipe robot of the present invention, the guide rod be equipped with screw thread, the stop part be with
The guide rod thread cooperation, the adjusting nut that can be moved axially along the guide rod；And/or
The elastic element is spring.
It preferably, further include being fixed at first fixing seat and in pipe robot of the present invention
Support base between two fixing seats, the support base is coaxial with the first fixing seat and the second fixing seat and is spaced setting, and described
The second end of guide rod passes through the support base.
Preferably, in pipe robot of the present invention, the machinery leg assembly is equipped with six, wherein described in three
Pedipulator and first fixing seat in mechanical leg assembly is hinged, and strut and second fixing seat are hinged；
Pedipulator and second fixing seat in machinery leg assembly described in the other three is hinged, and strut is solid with described first
Reservation is hinged.
Preferably, in pipe robot of the present invention, hinged pedipulator and strut with first fixing seat
Uniform intervals setting；
Hinged pedipulator and the setting of strut uniform intervals with second fixing seat.
Preferably, in pipe robot of the present invention, each pedipulator intersects with adjacent pedipulator to be set
It sets and is spaced a distance, each strut is arranged in a crossed manner with adjacent strut and is spaced a distance.
Preferably, in pipe robot of the present invention, there are three the guide rod is set, between three guide rods are uniform
Every being equipped with the diameter changing mechanism in setting, each guide rod.
Preferably, in pipe robot of the present invention, the pedipulator includes linking arm, is arranged in the connection
The traveling wheel of arm one end and the driving device of the driving traveling wheel movement, the circumferential direction of the traveling wheel are arranged with anti-pulley
Tire.
Preferably, in pipe robot of the present invention, the driving device includes motor, driving gear, driven
Gear and wheel shaft, one end that the linking arm is provided with the traveling wheel are arranged with gear-box, the driving gear, driven gear
It is arranged in the gear-box with wheel shaft, the both ends of the wheel shaft are stretched out from the gear-box and are respectively arranged with the walking
Wheel；
The motor is arranged in the linking arm, and the driving gear is mounted on the output shaft of the motor, described
Driven gear is set on the wheel shaft, and the driving gear is engaged with the driven gear；It is main described in the motor driven
When wheel rotation, the driving wheel drives the driven wheel rotation being engaged with, and then drives the walking at the wheel shaft both ends
Wheel rotation.
Preferably, in pipe robot of the present invention, the driving gear and the driven gear are cone tooth
Wheel or helical gear, the rotation direction of the driving gear are vertical with the rotation direction of the driven gear.
A kind of pipe detection system has also been constructed in the present invention, which includes controlling terminal, transfer matic cable car
And heretofore described pipe robot, equipped with the detection device for detecting pipeline on the pipe robot；Institute
It states pipe robot and is connect by the transfer matic cable car with the controlling terminal, and by the controlling terminal control action.
Implement pipe robot and pipe detection system of the invention, has the advantages that the present invention passes through variable diameter
The adjusting of mechanism is so that pipe robot has enough pressure to inner wall of the pipe in different tube diameters, so that pipe robot can
To adapt to different tube diameters variation, and have the vertical and horizontal ability of creeping and excessively curved ability, improves pipe robot to multiple
The pipe detection ability of miscellaneous pipeline arrangement.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1-Fig. 2 is the structural schematic diagram of inventive pipeline robot；
Fig. 3 is the structural schematic diagram of the mechanical leg assembly in inventive pipeline robot；
Fig. 4 is the schematic diagram that inventive pipeline robot moves in the duct；
Fig. 5 is the excessively curved schematic diagram of inventive pipeline robot in the duct；
Fig. 6 is the structural block diagram of inventive pipeline detection system.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", " left side ",
The orientation or positional relationship of the instructions such as " right side ", "vertical", "horizontal", "top", "bottom", "inner", "outside" is based on the figure
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
The present invention for existing detecting robot of pipe detecting distance is limited and pipeline adaptability is not strong, to complicated pipeline
The limited defect of pipe detection ability of arrangement, provide one kind be adapted to different tube diameters variation, itself have it is vertical and horizontal
The pipe robot of ability of creeping and excessively curved ability.Pipe robot of the invention is suitable for the detection of various industrial pipelines, packet
The fields such as petrochemical industry, electricity power, nuclear energy, ship, pipeline welding, compressor and military project manufacture are included, can be used for detecting each
Burn into welding defect, cracking, scale deposition, manufacturing defect and aging blemiss in kind pipeline etc., especially power plant's pipeline
The discovery and detection of interior defect.
As shown in Figure 1 and Figure 2, pipe robot of the invention include the first fixing seat 7, the second fixing seat 3, guide rod 4,
Mechanical leg assembly and diameter changing mechanism for walking.Wherein, the first fixing seat 7 is coaxial with the second fixing seat 3 and is spaced setting,
The first end of guide rod 4 connects the first fixing seat 7, and the second end of guide rod 4 passes through the second fixing seat 3, and the second fixing seat 3 can
It slides axially along guide rod 4；Mechanical leg assembly be equipped at least three, it is each machinery leg assembly include pedipulator 8 and with machinery
The hinged strut 6 of leg 8, and one of pedipulator 8 and strut 6 and the first fixing seat 7 are hinged, another one and the second fixing seat 3
Hingedly；Diameter changing mechanism includes elastic element 2 and stop part 1；Stop part 1 is arranged in the second end of guide rod 4, and 2 sets of elastic element
It is located on guide rod 4 and between stop part 1 and the second fixing seat 3.
As Figure 1-Figure 2, the first fixing seat 7 and the second fixing piece 3 are annular in shape, certainly, the first fixing seat 7 and second
The shape of fixing piece 3, which also can according to need, is arranged to different shapes, such as discoid, rectangular-shaped or irregular shape etc.,
The present invention is without limitation.Preferably, when the first fixing seat 7 and the second fixing piece 3 annular in shape, 7 He of the first fixing seat
The outer diameter of second fixing seat 3 is identical, and internal diameter is also identical.Certainly, the outer diameter, internal diameter of 3 the two of the first fixing seat 7 and the second fixing seat
Can not also be identical, it can specifically be configured according to actual needs, the present invention is without limitation.
The effect of guide rod 4 is that the reciprocating motion for the second fixing seat 3 relative to the first fixing seat 7 is oriented to.Specifically, leading
Parallel with the axis of the first fixing seat 7 and the second fixing piece 3 to bar 4, the first end of guide rod 4 is connected to the first fixing seat 7
The second end of end, guide rod 4 is passed through from the end of the second fixing seat 3, and the second fixing seat 3 can do axial cunning along guide rod 4
It moves close to or far from the first fixing seat 7.
In order to guarantee preferable guide effect and structural stability, the quantity of guide rod 4 be preferably three or three with
On.Such as in Fig. 1, embodiment shown in Fig. 2, there are three guide rod 4 is set, three 4 uniform intervals of guide rod settings, each guiding
It is equipped with diameter changing mechanism on bar 4, i.e., is arranged on each guide rod 4 and has elastic component 2, and the second end of each guide rod 4 is set
It is equipped with stop part 1, each elastic element 2 is located at and it is in the stop part 1 on same guide rod 4 and between the second fixing seat 3；Three
A guide rod 4 both passes through the end face of the second fixing seat 3 and parallel with the axis of the first fixing seat 7 and the second fixing piece 3, so that
Two fixing seats 3 being capable of sliding axially along three guide rods 4.For another example, guide rod 4 set there are four when, four guide rods 4 are uniform
Interval setting, is equipped with diameter changing mechanism on each guide rod 4, and four guide rods 4 both pass through the end face of the second fixing seat 3 and with the
One fixing seat 7 is parallel with the axis of the second fixing piece 3, enables the second fixing seat 3 sliding along the axial direction of four guide rods 4
It is dynamic.Certainly, the quantity of guide rod 4 also can also be other quantity, can specifically be configured according to the actual situation, the present invention couple
This is with no restrictions.
As shown in Figure 1 and Figure 2, pipe robot of the invention further includes being fixed at the first fixing seat 7 and second to fix
Support base 5 between seat 3, the support base 5 is coaxial with the first fixing seat 7 and the second fixing seat 3 and is spaced setting, and guide rod 4
Second end pass through the support base 5.The effect of support base 5 is to prevent guide rod 4 from deforming, especially thinner, long in guide rod 4
It spends long, in the case where being easy to produce deformation, the deformation of guide rod 4 can be effectively prevented by the way that support base 5 is arranged.Support base
It is fixedly connected between 5 and guide rod 4, i.e. support base 5 and the relative position of guide rod 4 is fixed.For example, can be designed to can basis
Actual demand adjusts position of the support base 5 on guide rod 4, again locks support base 5 after regulating motionless；Or directly
It is designed to that position of the support base 5 on guide rod 4 is fixed, it is unadjustable.The shape of support base 5 is preferably ring-type, when
So, the shape of support base 5, which also can according to need, is arranged to different shapes, such as discoid, rectangular-shaped or irregular shape
Deng of the invention without limitation.Preferably, when support base 5, the first fixing seat 7 and the second fixing piece 3 annular in shape,
The internal diameter of support base 5 is identical as the outer diameter of the first fixing seat 7 and the second fixing seat 3.
Pedipulator 8 and strut 6 in mechanical leg assembly are hinged, and one of pedipulator 8 and strut 6 and first are consolidated
Reservation 7 is hinged, and another one and the second fixing seat 3 are hinged.For example, it may be the first end of pedipulator 8 and the first end of strut 6 are cut with scissors
It connects, and the second end of pedipulator 8 and the first fixing seat 7 are hinged, the second end of strut 6 and the second fixing seat 3 are hinged；Or
It is that the first end of pedipulator 8 and the first end of strut 6 are hinged, and the second end of pedipulator 8 and the second fixing seat 3 are hinged, strut
6 second end and the first fixing seat 7 are hinged.
Wherein, pedipulator 8 and the first fixing seat 7 or the second fixing seat 3 can hingedly be accomplished by the following way:
The side of one fixing seat 7 or the second fixing seat 3 opens up fluted, and the two side walls face of the groove is equipped with shaft hole, in pedipulator 8
The one end being connect with the first fixing seat 7 or the second fixing seat 3 also be provided with shaft hole；The shaft of pedipulator 8 is passed through by shaft
Hole, the both ends of shaft are plugged in respectively in the shaft hole on the two side walls face of groove, to realize that pedipulator 8 and first is fixed
Seat 7 or second fixing seat 3 it is hinged.
Strut 6 and the first fixing seat 7 or the second fixing seat 3 can hingedly be accomplished by the following way: fixed first
The side of seat 7 or the second fixing seat 3 opens up fluted, the two side walls face of the groove is equipped with shaft hole, in strut 6 and first
One end of fixing seat 7 or the connection of the second fixing seat 3 also is provided with shaft hole；By shaft pass through strut 6 shaft hole, the two of shaft
End is plugged in respectively in the shaft hole on the two side walls face of groove, to realize that strut 6 and the first fixing seat 7 or second are fixed
Seat 3 it is hinged.
Balance when in order to guarantee the preferable structural stability of pipe robot and walk in the duct, mechanical leg assembly
Quantity be preferably three or three or more, can specifically be configured according to the actual situation.For example, mechanical leg assembly is equipped with
At three, one of pedipulator 8 and strut 6 of three mechanical leg assemblies are hinged with the first fixing seat 7, and another one is solid with second
Reservation 3 is hinged, for example, can be three mechanical leg assemblies pedipulator 8 it is hinged with the first fixing seat 7, and three pedipulator groups
The strut 6 of part is hinged with the second fixing seat 3；Either two of them machinery leg assembly pedipulator 8 with the first fixing seat 7
Hingedly, while the strut 6 of this two mechanical leg assemblies and the second fixing seat 3 are hinged, and the pedipulator 8 of another machinery leg assembly
It is hinged with the second fixing seat 3, the first fixing seat 7 respectively with strut 6；It or is the pedipulator 8 of two of them machinery leg assembly
It is hinged with the second fixing seat 3, at the same the strut 6 of this two mechanical leg assemblies with the first fixing seat 7 hingedly, and another is mechanical
The pedipulator 8 and strut 6 of leg assembly are hinged with the first fixing seat 7, the second fixing seat 3 respectively.For another example, this hair shown in Fig. 1, Fig. 2
In the preferred embodiment of open conduit robot, mechanical leg assembly is equipped with six, wherein the pedipulator 8 in three mechanical leg assemblies with
First fixing seat 7 is hinged, and strut 6 and the second fixing seat 3 are hinged；Pedipulator 8 and second in the other three machinery leg assembly is solid
Reservation 3 is hinged, and strut 6 and the first fixing seat 7 are hinged.That is, mechanical leg assembly may include two kinds, one is the first machines
Tool leg assembly, another kind are the second mechanical leg assemblies, and the first mechanical leg assembly and the second mechanical leg assembly are respectively equipped with three；Its
In, the pedipulator 8 and the first fixing seat 7 in each first mechanical leg assembly are hinged, the strut 6 in each first mechanical leg assembly
It is hinged with the second fixing seat 3；Pedipulator 8 and the second fixing seat 3 in each second mechanical leg assembly is hinged, and each second is mechanical
Strut 6 and the first fixing seat 7 in leg assembly is hinged.
Preferably, the pedipulator 8 hinged with the first fixing seat 7 and the setting of 6 uniform intervals of strut；It is cut with scissors with the second fixing seat 3
Pedipulator 8 and 6 uniform intervals of the strut setting connect, thus non-interference between pedipulator 8 and adjacent strut 6.All machinery
Leg 8 is arranged in a crossed manner with adjacent pedipulator 8 but is spaced a distance, all struts 6 it is arranged in a crossed manner with adjacent strut 6 but
It is spaced a distance again, as shown in Figure 1 and Figure 2.
In pipe robot of the invention, the elastic element 2 of diameter changing mechanism, which is set on guide rod 4 and is located at second, to be consolidated
Between reservation 3 and stop part 1, the precompression of elastic element 2 can be set in the position of guide rod 4 by adjusting the stop part 1,
So that pipe robot has enough pressure to inner wall of the pipe in the pipeline of different tube diameters, so as to adapt to different tube diameters
Variation.It is connect with the second fixing seat 3 or stop part 1 or elastic element 2 and second specifically, elastic element 2 can be one end
Fixing seat 3 and stop part 1 are not connected to.
Wherein, elastic element 2 is preferably spring, such as tensioning spring, compressed spring etc., and the elasticity of spring makes pipeline
Robot plays the role of damping when moving in pipeline, so as to adapt to complicated landform environment in pipeline to a certain extent, and
It can guarantee that the camera 20 carried on pipe robot in conduit axis position, guarantees best imaging effect always.When
So, which can also use other elastic components, as long as axial pretightning force can be provided for the second fixing seat 3.
Stop part 1 is preferably adjusting nut, and guide rod 4 is equipped with screw thread, and adjusting nut and guide rod 4 are threadedly engaged and can be along guiding
Bar 4 moves axially, and the precompression of elastic element 2 can be set by adjusting the adjusting nut in the axial displacement of guide rod 4, with
Just pipe robot has enough pressure to inner wall of the pipe in the pipeline of different tube diameters, becomes so as to adapt to different tube diameters
Change.
As shown in figure 3, pedipulator 8 includes linking arm 9, is arranged in 9 one end of linking arm in pipe robot of the invention
Traveling wheel 17 and the driving device that moves of driving traveling wheel 17, the circumferential direction of traveling wheel 17 is arranged with non-skid tyre 18.Wherein,
Driving device includes motor 10, driving gear 12, driven gear 13 and wheel shaft 16, and linking arm 9 is provided with one end of traveling wheel 17
Be arranged with gear-box 19, driving gear 12, driven gear 13 and wheel shaft 16 are arranged in the gear-box 19, the both ends of wheel shaft 16 from
Gear-box 19 stretches out and is respectively arranged with a traveling wheel 17；Linking arm 9 is used as motor sleeve, and motor 10 is arranged in the linking arm
In 9, driving gear 12 is mounted on the output shaft of motor 10, and driven gear 13 is set on wheel shaft 16, the driving gear 12 with
Driven gear 13 engages.When motor 10 drives driving gear 12 to rotate, driving gear 12 drives the driven gear being engaged with
13 rotations, since driven gear 13 and traveling wheel 17 are set on the same wheel shaft 16, so that driven gear 13 can band when rotating
Driving wheel axis 16 rotates, and then the traveling wheel 17 at 16 both ends of wheel shaft is driven to rotate, and when traveling wheel 17 rotates, pipe robot realizes row
It walks.In the present embodiment, driving gear 12 and driven gear 13 are bevel gear (bevel gear is also bevel gear) or helical gear, i.e.,
Driving gear 12 is drive bevel gear, and driven gear 13 is driven wheel of differential, the rotation direction of drive bevel gear with from mantle tooth
The rotation direction of wheel is mutually perpendicular to；When drive bevel gear rotation when will will drive driven wheel of differential with drive bevel gear rotation side
It is rotated to vertical direction, i.e. the rotation direction of drive bevel gear and the rotation direction of driven wheel of differential is vertical, and then drives row
Walk 17 rotation of wheel.Alternatively, driving gear 12 and driven gear 13 can also be helical gear, i.e., driving gear 12 is active helical teeth
Wheel, driven gear 13 are follow bevel gear, and the rotation direction of the drive bevel gear and the rotation direction of follow bevel gear are vertical.When
So, driving gear 12 and driven gear 13 can also also use other kinds of gear, or by worm screw turbine to motor 10
Rotation be driven, rotated as long as be able to achieve motor 10 being converted to the traveling wheel 17 vertical with 10 direction of rotation of motor
?.
Further, as shown in figure 3, being equipped with the first sealing ring 11, first sealing ring between linking arm 9 and gear-box 19
11 are set in the outer wall of linking arm 9, and fit closely between first sealing ring 11 and the inner wall of gear-box 19, play waterproof work
With.The second sealing ring 14 is equipped between wheel shaft 16 and gear-box 19, which is set in the periphery of wheel shaft 16, and should
The inner wall of second sealing ring 14 and gear-box 19 fits closely, and plays waterproof action.Bearing 15 is arranged on wheel shaft 16, and should
Bearing 15 can make the rotation of wheel shaft 16 more smooth between driven gear 13 and traveling wheel 17, by the way that the bearing 15 is arranged.
As shown in Figure 1-Figure 3, the walking of each mechanical leg assembly is driven by independent driving device respectively, i.e., each machinery
The pedipulator 8 of leg assembly is independently driven by individual driving device respectively, to have more heavy load and reliability.When two machines
When 8 scissor of the pedipulator folding of tool leg assembly, the traveling wheel 17 in each machinery leg assembly synchronizes and is pressed towards tube wall, at this time from the
The Distance Shortened of two the 3 to the first fixing seats of fixing seat 7, the i.e. length of pipe robot are totally reduced, and are highly got higher, such as Fig. 4 institute
Show.
The working principle of pipe robot of the invention is as follows: the strut 6 and pedipulator 8 of mechanical leg assembly are with hinged side
Formula is mounted in the first fixing seat 7 and the second fixing seat 3, and the first fixing seat 7 is fixedly mounted with guide rod 4, and the second mounting base 3 exists
It can slide axially on guide rod 4, the elastic element 2 of diameter changing mechanism is set on guide rod 4 and is located at stop part and second and consolidates
Between reservation 3, by adjust stop part 1 set the precompression of elastic element 2 so as to pedipulator 8 in different tube diameters to pipeline
Inner wall has enough pressure, while the elasticity of elastic element 2 makes pipe robot play damping when moving in pipeline
Effect so as to adapt to the complicated landform environment in pipeline to a certain extent, and can guarantee camera 20 always in pipe
Road axial location guarantees best imaging effect.
The present invention by heretofore described pipe robot in the industrial pipeline of r=1.5 times of caliber of turning radius into
Row actual test, test result is as follows:
1, the caliber adaptability of pipe robot: pipe robot is suitable for pipe diameter variation when advancing in pipeline
Caliber change in the case of≤1 times of wheel footpath can make pipe robot adapt to different tube diameters design parameter by adjusting diameter changing mechanism
Pipeline, as shown in Figure 4；
2, the vertical climbing ability of pipe robot: it is enough that diameter changing mechanism all has 8 pairs of pedipulator different tube walls
Pressure, so that pipe robot can be in the even vertically arranged pipeline for being traveling in heavy grade；
3, the excessively curved ability of pipe robot: as shown in figure 4, due to the travel wheel of multiple groups machinery leg assembly be all located at it is same
Perpendicular in the circle of pipeline section, which has a good excessively curved ability, excessively curved ability be turning radius r >=
1.5*D (D is caliber), as shown in figure 5, can adapt to the 1.5D pipeline of domestic standard and the industrial pipeline that the big arc of 3D, 4D is curved；
4, the tractive force of pipe robot can reach 20kg.
To sum up, compared with prior art, pipe robot of the invention has the advantage that
The excessively curved radius minimum of pipe robot of the invention reaches 1.5D (D is caliber)；Pass through the adjustment of variable-diameter structure
It is suitable for moving in the pipeline of different tube diameters；Since diameter changing mechanism provides enough pressure to tube wall, so that pipeline machine
People can be in the even vertically arranged pipeline for being traveling in heavy grade；Each machinery leg assembly has independent driving device,
With more heavy load and reliability；The drive mechanism of pedipulator 8 and driving device in mechanical leg assembly makes pipe robot knot
Structure is more compact, to adapt to the pipeline of more small diameter tube.
The present invention also provides a kind of pipe detection systems, as shown in fig. 6, the pipe detection system includes controlling terminal
100, transfer matic cable car 200 and heretofore described pipe robot 300, equipped with for examining on pipe robot 300
The detection device in test tube road；Pipe robot 300 is connect and by controlling terminal by transfer matic cable car 200 with controlling terminal 100
100 control actions.
Specifically, can have by the cable on transfer matic cable car 200 between pipe robot 300 and controlling terminal 100
Line connection can be pipe robot by transfer matic cable car 200 when transfer matic cable car 200 is with 300 wired connection of pipe robot
300 power supplies.Wherein, it is carried on pipe robot 300 for the picture pick-up device (such as camera 20) of detection or other detection dresses
Set the detection for defect in pipeline.Specifically, as Figure 1-Figure 2, camera 20 waits picture pick-up devices and detection device installation
Deviate from the one side of the second fixing seat 3 in the first fixing seat 7 of pipe robot 300, while paying attention to that camera 20 etc. is kept to take the photograph
On the same line as the central axes of equipment and detection device and the central axes of the first fixing seat 7.Controlling terminal 100 can be shown
The real-time pictures of pipe robot 300 in the duct, and have storage video, take pictures and the functions such as remarks, while also can control
Pipe robot 300 acts in pipeline.Transfer matic cable car 200 is also equipped with mileage measurement and automatic transceiving cable function.
In conclusion pipe robot and pipe detection system of the invention are by the adjusting of diameter changing mechanism so that pipe machine
Device people has enough pressure to inner wall of the pipe in different tube diameters, so that pipe robot is adapted to different tube diameters variation,
And have the vertical and horizontal ability of creeping and excessively curved ability, improve the pipe detection that pipe robot arranges complicated pipeline
Ability.
It should be understood that above embodiments only express the preferred embodiment of the present invention, description is more specific and detailed
Carefully, but it cannot be understood as limitations on the scope of the patent of the present invention；It should be pointed out that for the common skill of this field
For art personnel, without departing from the inventive concept of the premise, above-mentioned technical characterstic can be freely combined, can also be done
Several modifications and improvements out, these are all within the scope of protection of the present invention；Therefore, all to be done with scope of the invention as claimed
Equivalents and modification, should belong to the covering scope of the claims in the present invention.
Claims (11)
1. a kind of pipe robot, which is characterized in that including the first fixing seat (7), the second fixing seat (3), guide rod (4), use
In the mechanical leg assembly and diameter changing mechanism of walking；
First fixing seat (7) is coaxial with the second fixing seat (3) and is spaced setting, the first end connection of the guide rod (4)
The second end of first fixing seat (7), the guide rod (4) passes through second fixing seat (3), second fixing seat
(3) it can slide axially along the guide rod (4)；
The machinery leg assembly is equipped at least three, each mechanical leg assembly include pedipulator (8) and with the machinery
The hinged strut (6) of leg (8), and one of the pedipulator (8) and strut (6) with first fixing seat (7) hingedly, separately
One and second fixing seat (3) are hinged；
The diameter changing mechanism includes elastic element (2) and stop part (1)；The stop part (1) is arranged in the guide rod (4)
Second end, the elastic element (2) are set on the guide rod (4) and are located at the stop part (1) and the second fixing seat (3)
Between.
2. pipe robot according to claim 1, which is characterized in that the guide rod (4) is equipped with screw thread, described to stop
Block piece (1) is the adjusting nut for being threadedly engaged, being moved axially along the guide rod (4) with the guide rod (4)；And/or
The elastic element (2) is spring.
3. pipe robot according to claim 1, which is characterized in that further include being fixed at first fixing seat
(7) support base (5) between the second fixing seat (3), the support base (5) and the first fixing seat (7) and the second fixing seat (3)
Coaxially and it is spaced setting, and the second end of the guide rod (4) passes through the support base (5).
4. pipe robot according to claim 1, which is characterized in that the machinery leg assembly is equipped with six, wherein three
Pedipulator (8) and first fixing seat (7) in a mechanical leg assembly hingedly, strut (6) and second fixing seat
(3) hinged；
Pedipulator (8) in machinery leg assembly described in the other three and second fixing seat (3) hingedly, strut (6) with it is described
First fixing seat (7) is hinged.
5. pipe robot according to claim 4, which is characterized in that the hinged machinery with first fixing seat (7)
Leg (8) and the setting of strut (6) uniform intervals；
Hinged pedipulator (8) and the setting of strut (6) uniform intervals with second fixing seat (3).
6. pipe robot according to claim 5, which is characterized in that each pedipulator (8) and adjacent machinery
Leg (8) is arranged in a crossed manner and is spaced a distance, and each strut (6) is arranged in a crossed manner with adjacent strut (6) and is spaced one
Fixed distance.
7. pipe robot according to claim 1, which is characterized in that there are three the guide rod (4) sets, three guiding
Bar (4) uniform intervals are arranged, and are equipped with the diameter changing mechanism on each guide rod (4).
8. pipe robot according to claim 1, which is characterized in that the pedipulator (8) includes linking arm (9), sets
Set the driving device in the traveling wheel (17) of the linking arm (9) one end and driving traveling wheel (17) movement, the row
The circumferential direction for walking wheel (17) is arranged with non-skid tyre (18).
9. pipe robot according to claim 8, which is characterized in that the driving device includes motor (10), active
Gear (12), driven gear (13) and wheel shaft (16), one end that the linking arm (9) is provided with the traveling wheel (17) are arranged with
Gear-box (19), the driving gear (12), driven gear (13) and wheel shaft (16) setting are in the gear-box (19), the wheel
The both ends of axis (16) are stretched out from the gear-box (19) and are respectively arranged with the traveling wheel (17)；
In the linking arm (9), the driving gear (12) is mounted on the defeated of the motor (10) for motor (10) setting
On shaft, the driven gear (13) is set on the wheel shaft (16), the driving gear (12) and the driven gear
(13) it engages；When the motor (10) drive the driving gear (12) rotation, the driving gear (12) drives and nibbles therewith
The driven gear (13) rotation closed, and then drive traveling wheel (17) rotation at wheel shaft (16) both ends.
10. pipe robot according to claim 9, which is characterized in that the driving gear (12) and the driven tooth
Wheel (13) is bevel gear or helical gear, the rotation direction of the driving gear (12) and the rotation side of the driven gear (13)
To vertical.
11. a kind of pipe detection system, which is characterized in that including controlling terminal (100), transfer matic cable car (200) and right
It is required that the described in any item pipe robots of 1-10, equipped with the detection for detecting pipeline on the pipe robot (300)
Device；The pipe robot (300) is connect by the transfer matic cable car (200) with the controlling terminal (100), and by institute
State controlling terminal (100) control action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811095702.7A CN109140112B (en) | 2018-09-19 | 2018-09-19 | Pipeline robot and pipeline detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811095702.7A CN109140112B (en) | 2018-09-19 | 2018-09-19 | Pipeline robot and pipeline detection system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109140112A true CN109140112A (en) | 2019-01-04 |
| CN109140112B CN109140112B (en) | 2021-02-19 |
Family
ID=64814925
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811095702.7A Active CN109140112B (en) | 2018-09-19 | 2018-09-19 | Pipeline robot and pipeline detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109140112B (en) |
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| CN109630806A (en) * | 2019-02-21 | 2019-04-16 | 中国人民解放军陆军工程大学 | The pipe robot that can be screwed on, grab and detect |
| CN110513566A (en) * | 2019-01-25 | 2019-11-29 | 四川大学 | A kind of oil-gas pipeline detection robot |
| CN110735994A (en) * | 2019-10-25 | 2020-01-31 | 浙江越新检测技术有限公司 | magnetism leakage detection device in adjustable crawler-type pipeline |
| CN111410013A (en) * | 2020-04-09 | 2020-07-14 | 北京京东乾石科技有限公司 | Transport mechanism, transport device and pipeline transport system |
| CN111822897A (en) * | 2020-07-23 | 2020-10-27 | 郭宏健 | Tubular pile underground welding appearance |
| WO2021038301A1 (en) * | 2019-08-23 | 2021-03-04 | Peter Kessler | Pipe inspection device with variable height control |
| CN112483766A (en) * | 2021-01-11 | 2021-03-12 | 浙江省特种设备科学研究院 | Automatic detect crawler in flexible wheeled pipeline |
| CN112762274A (en) * | 2021-01-14 | 2021-05-07 | 武汉理工大学 | Crude oil pipeline leakage detection robot |
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| CN113358023A (en) * | 2021-04-21 | 2021-09-07 | 中核工程咨询有限公司 | Measuring tool for a through-penetration |
| CN113389976A (en) * | 2021-06-21 | 2021-09-14 | 河北列阵科技有限公司 | Pipeline robot capable of stepless reducing |
| CN113483197A (en) * | 2021-06-30 | 2021-10-08 | 国机传感科技有限公司 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
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| CN114673863A (en) * | 2022-04-07 | 2022-06-28 | 江苏省特种设备安全监督检验研究院 | Robot and detection method for phased array nondestructive detection of interior of pipeline |
| CN114776937A (en) * | 2022-04-07 | 2022-07-22 | 江苏省特种设备安全监督检验研究院 | Phased array detection robot and detection method for interior of pipeline |
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| WO2021038301A1 (en) * | 2019-08-23 | 2021-03-04 | Peter Kessler | Pipe inspection device with variable height control |
| CN110735994A (en) * | 2019-10-25 | 2020-01-31 | 浙江越新检测技术有限公司 | magnetism leakage detection device in adjustable crawler-type pipeline |
| CN110735994B (en) * | 2019-10-25 | 2021-01-29 | 浙江越新检测技术有限公司 | Magnetic flux leakage detection device in adjustable crawler-type pipeline |
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| CN112483766A (en) * | 2021-01-11 | 2021-03-12 | 浙江省特种设备科学研究院 | Automatic detect crawler in flexible wheeled pipeline |
| CN112762274A (en) * | 2021-01-14 | 2021-05-07 | 武汉理工大学 | Crude oil pipeline leakage detection robot |
| CN112762274B (en) * | 2021-01-14 | 2022-06-28 | 武汉理工大学 | Crude oil pipeline leakage detection robot |
| CN113358023A (en) * | 2021-04-21 | 2021-09-07 | 中核工程咨询有限公司 | Measuring tool for a through-penetration |
| CN113389976A (en) * | 2021-06-21 | 2021-09-14 | 河北列阵科技有限公司 | Pipeline robot capable of stepless reducing |
| CN113389976B (en) * | 2021-06-21 | 2024-05-07 | 河北列阵科技有限公司 | Pipeline robot capable of stepless reducing |
| CN113483197A (en) * | 2021-06-30 | 2021-10-08 | 国机传感科技有限公司 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
| CN113883358A (en) * | 2021-10-21 | 2022-01-04 | 杭州赫恩数字技术有限公司 | Pipeline robot suitable for different pipe diameters |
| CN114673863A (en) * | 2022-04-07 | 2022-06-28 | 江苏省特种设备安全监督检验研究院 | Robot and detection method for phased array nondestructive detection of interior of pipeline |
| CN114776937A (en) * | 2022-04-07 | 2022-07-22 | 江苏省特种设备安全监督检验研究院 | Phased array detection robot and detection method for interior of pipeline |
| CN114673863B (en) * | 2022-04-07 | 2023-01-13 | 江苏省特种设备安全监督检验研究院 | Robot and detection method for phased array nondestructive detection of interior of pipeline |
| CN114776937B (en) * | 2022-04-07 | 2023-01-17 | 江苏省特种设备安全监督检验研究院 | Phased array detection robot and detection method for interior of pipeline |
| CN116608361A (en) * | 2023-07-20 | 2023-08-18 | 沈阳仪表科学研究院有限公司 | Pipeline detection assembly, pipeline detection unit and pipeline magnetic flux leakage detector |
| CN116608361B (en) * | 2023-07-20 | 2023-09-19 | 沈阳仪表科学研究院有限公司 | Pipeline detection assembly, pipeline detection unit and pipeline magnetic flux leakage detector |
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