CN109296868A - A kind of pipe robot for pipeline docking - Google Patents
A kind of pipe robot for pipeline docking Download PDFInfo
- Publication number
- CN109296868A CN109296868A CN201811352040.7A CN201811352040A CN109296868A CN 109296868 A CN109296868 A CN 109296868A CN 201811352040 A CN201811352040 A CN 201811352040A CN 109296868 A CN109296868 A CN 109296868A
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- Prior art keywords
- chassis
- pipe robot
- supporting block
- lead
- pipeline
- Prior art date
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
- F16L1/00—Laying or reclaiming pipes; Repairing or joining pipes on or under water
- F16L1/024—Laying or reclaiming pipes on land, e.g. above the ground
- F16L1/06—Accessories therefor, e.g. anchors
- F16L1/09—Accessories therefor, e.g. anchors for bringing two tubular members closer to each other
-
- 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
- F16L55/40—Constructional aspects of the body
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipe robots for pipeline docking interior construction, specifically include chassis, running module, lead-screw drive mechanism, power source, control module, inner support mechanism and image capturing system.Wherein, chassis is plate shaped；The lower part on chassis is arranged in running module；The top on chassis is arranged in lead-screw drive mechanism and power source；Inner support mechanism is connected by support rod with lead-screw drive mechanism；Also, the top that chassis is arranged in image capturing system is placed in the side of power source；The lower part on chassis is arranged in control module.Running module is symmetrically mounted below chassis, can be realized direction movement and the accurate positioning under pipe robot remotely controls by control module and image capturing system.Pipe robot of the invention is compact-sized, registration, mobile flexible, handling strong, and pipeline butt-joint operation under achievable various operating conditions, especially performance is good in artificial impossible small diameter tube butt-joint operation.
Description
Technical field
The present invention relates to a kind of pipe robots for pipeline docking.Particularly, it is related to a kind of in pipeline docking
By the pipe robot of interior construction.
Background technique
Reinforced steel-band polyethylene helical bellows in the fields such as city water and drainage pipeline using very extensive, and
And pipeline docking is more important link during pipeline laying construction again.Therefore, it completes accurately to dock with efficient pipeline
Primary goal when being engineering construction.
Traditional pipeline docking construction technology is mostly that manually interior pushing out ring is mounted at pipeline docking, docking operation master
The situation of docking is judged by artificial experience.Such as patent CN205859410U, CN205859425U and
Pipeline docking facilities disclosed in CN207848669U are to carry out pipeline docking using artificial and various auxiliary devices.It is this
Artificial pipeline docking form of construction work disadvantage is that, construction efficiency is lower, and merging precision is low, is easy to appear leakage etc.
Problem is constructed extremely difficult when especially docking to small diameter tube.
Also, it there is no the equipment using automatic machinery people to pipeline docking interior construction in practice of construction at present.Cause
This, for the accurate high efficiency for guaranteeing pipeline docking construction, there is an urgent need to research and develop the pipe robot of automated construction.
Summary of the invention
The purpose of the present invention is to provide a kind of efficient, high-precision pipeline machines for pipeline docking interior construction
People.Pipe robot according to the present invention can provide uniform internal support in the work progress that pipeline docks for pipeline
Power, and can be realized the accurate docking of pipeline, to neutralization school circle.
Pipe robot according to the present invention specifically includes chassis, running module, lead-screw drive mechanism, power source, control
Module, inner support mechanism and image capturing system.Wherein, chassis is I-shaped plate；The lower part on chassis is arranged in running module；
The top on chassis is arranged in lead-screw drive mechanism and power source；Inner support mechanism is connected by support rod with lead-screw drive mechanism；
Also, the top that chassis is arranged in image capturing system is placed in the side of power source；The lower part on chassis is arranged in control module.
Pipe robot according to the present invention, it is preferable that running module specifically can include sliding bearing, sliding bearing
Seat, synchronous decelerating motor, ring flange and universal wheel；Wherein, sliding bearing is matched with plain bearing housing, and plain bearing housing
It is connect with chassis；Synchronous decelerating motor and ring flange are separately positioned on the two sides of plain bearing housing；And the side of ring flange covers
It connects on the output shaft of synchronous decelerating motor；Also, the outer wall of the ring flange side connects with the inner wall of sliding bearing；Ring flange
The other side connects universal wheel.
Pipe robot according to the present invention, it is preferable that running module is multiple.According to one embodiment of present invention
In, walking module is 4.Also, 4 running modules are symmetricly set on the lower part on chassis, and control module is arranged in 4 traveling moulds
Between block.
Pipe robot according to the present invention, it is preferable that lead-screw drive mechanism specifically can include end cap, rolling bearing pedestal
A, rolling bearing pedestal B, rolling bearing, guide rod, lead screw, support rod A, support rod B, guide rod disc, feed screw nut, transparent cover, shaft coupling,
AC decelerating motor and AC decelerating motor mounting seat.Wherein, rolling bearing pedestal A and rolling bearing pedestal B are separately fixed on chassis,
It is respectively equipped with rolling bearing in the inside of two rolling bearing pedestals, the both ends of lead screw are plugged in rolling bearing respectively, and respectively
Axial restraint is carried out by shaft block ring.Threads of lead screw is trapezoidal thread, keeps interior support mechanism meaning operating position in office self-locking.And
And there are two feed screw nuts, each feed screw nut to be fixedly connected with guide rod disc for installation on lead screw, two guide rod discs are socketed in
On lead screw.Two through-holes are respectively equipped in each guide rod disc.The both ends of two guide rods are successively plugged on the logical of two guide rod discs
In hole, and pass through end cap and transparent cover axial restraint respectively.The both ends of two guide rods all extend to the outside of guide rod disc, and solid respectively
It is scheduled in the guide rod installing hole of two rolling bearing pedestals.AC decelerating motor is equipped on the outside, chassis of rolling bearing pedestal A to install
Pedestal is equipped with AC decelerating motor in AC decelerating motor mounting seat.One end of lead screw extends to the outside of rolling bearing, lead screw
The other end be connected with the output shaft of AC decelerating motor by shaft coupling.Corresponding position on the outer wall of two guide rod discs,
Equipped with three groups of trunnions, it is connected respectively by screw with a support rod A in three groups of trunnions of each positioning disk, every support rod B
It is connected respectively by screw with the corresponding trunnion on another positioning disk.
Pipe robot according to the present invention, it is preferable that inner support mechanism specifically can include supporting block A, supporting block B,
Straight-line guide rail slide block, linear guide guide rod, support frame.Wherein, supporting block A and supporting block B is multiple.In the embodiment of the present invention
In, supporting block A and supporting block B are three.Three supporting block A and three supporting block B are staggeredly adjacent, on each supporting block A
It is bolted to connection two straight-line guide rail slide blocks respectively, two straight-line guide rail slide blocks are slidably connected at linear guide respectively and lead
On bar.Each linear guide guide rod is separately fixed on a supporting block B, and each linear guide guide rod is slidably connected two respectively
Straight-line guide rail slide block, i.e. a straight-line guide rail slide block of the two supporting block A adjacent with supporting block B or so.It is led in each straight line
A support frame is equipped in the middle part of rail guide rod, each support frame passes through screw respectively and is hinged with support rod A, support rod B,
Supporting mechanism inside pipeline to form the single-degree-of-freedom of nine prismatic pairs.
Pipe robot according to the present invention, it is preferable that under the driving of the AC decelerating motor of lead-screw drive mechanism, shaft coupling
Device drives lead screw rotation, and is further driven to support rod and makees opening and contractile motion；Also, in the opening of support rod and shrink fortune
Under movement is used, supporting block radial motion is driven, so that inner support mechanism carries out stretching, extension and contractile motion.
Pipe robot according to the present invention, it is preferable that inner support mechanism can be under the drive of lead-screw drive mechanism
Row stretching, extension and contractile motion, and when being stretched over completely circular structure, it can be docked for pipeline and uniform internal support force is provided, with
Dock With Precision Position is carried out, to neutralization school circle to pipeline.
Pipe robot according to the present invention, it is preferable that in the outside of rolling bearing pedestal B, be fixedly connected with power on chassis
Source.It is further preferred that power source exports two kinds of simple harmonic quantity alternating currents of 110V and 220V and provides electric power to control module, and
Cruise duration can be at such as 8 hours or more.
Pipe robot according to the present invention, it is preferable that be connected by screw to image on the side, chassis of power source and adopt
Collecting system, also, screw connection can be flexible connection.It is further preferred that image capturing system being capable of real-time sighting tube
The work condition environment of pipeline robot, and operating condition image is transmitted to external image display in a manner of such as wireless transmission, thus
The work information of pipeline is fed back into operator, so that operator carries out real-time operation, to facilitate control pipeline machine
People's operation.
Pipe robot according to the present invention, it is preferable that control module control running module in synchronization decelerating motor and
Starting, stopping and the positive and negative rotation of AC decelerating motor in lead-screw drive mechanism.
Pipe robot according to the present invention, it is preferable that 4 running modules, which are mounted on, constitutes pipeline of the invention on chassis
The running gear of robot.Also, by the control of control module, so that 4 running module cooperative motions, form pipeline machine
The universal movement of people's running gear.Under the co- controlling of control module and image capturing system, the cooperative motion of running module
So that pipe robot is able to carry out direction movement and accurate positioning.
Compared with prior art, pipe robot according to the present invention, which has the advantages that, to replace passing with mechanization
System manpower realizes efficient, high-precision pipeline docking construction；The universal wheel cooperative motion of 4 running modules, in control module and
It can be realized the direction movement and accurate positioning that pipe robot remotely controls under the control of image capturing system；Compact-sized,
Registration, movement are flexible, handling strong, can complete pipeline butt-joint operation under various operating conditions, the people especially in traditional construction
Work is difficult to show in the small diameter tube butt-joint operation completed good；The full circle design of inner support mechanism can mention for pipeline butt-joint operation
For uniform internal support force and realize that pipeline accurately docks, to neutralization school circle.
Detailed description of the invention
Fig. 1 is the overall assembling schematic diagram of pipe robot according to the present invention；
Fig. 2 is the structural schematic diagram of the running module of pipe robot according to the present invention；
Fig. 3 is the schematic diagram of the lead-screw drive mechanism of pipe robot according to the present invention；
Fig. 4 is the schematic diagram of the inner support mechanism of pipe robot according to the present invention；
Fig. 5 is the schematic diagram of the inner support mechanism of pipe robot according to the present invention；
Fig. 6 is the bottom view on the chassis of pipe robot according to the present invention.
Specific embodiment
Pipe robot of the invention is further described with specific embodiment with reference to the accompanying drawing.
Fig. 1 shows the overall assembling schematic diagram of pipe robot according to the present invention.As shown in Figures 1 to 6, according to this
The pipe robot of invention specifically includes running module 101, chassis 102, power source 103, image capturing system 104, lead screw biography
Motivation structure 105, inner support mechanism 106 and control module 107；Wherein, chassis 102 is I-shaped plate, in the lower part on chassis 102
4 running modules 101 are respectively symmetrically equipped with, are equipped with lead-screw drive mechanism 105,104 and of image capturing system on 102 top of chassis
Power source 103, control module 107 are set to the lower part on chassis 102, inner support mechanism 106 by support rod A and support rod B with
Lead-screw drive mechanism 105 is connected.
As shown in Fig. 2, running module 101 mainly includes universal wheel 205, ring flange 204, plain bearing housing 203, sliding axle
Hold 202 and synchronous decelerating motor 201.Wherein, the top of plain bearing housing 203 is bolted on the lower part on chassis 102, sliding
The two sides of dynamic bearing seat 203 are respectively equipped with synchronous decelerating motor 201 and ring flange 204, and ring flange 204 is socketed in the synchronous electricity that slows down
On the output shaft of machine 201, and it is connected by screw with synchronous decelerating motor 201.The outer wall and sliding bearing 202 of ring flange 204
Inner wall connect, sliding bearing 202 is plugged on the inside of plain bearing housing 203.The outside of ring flange 204 is fixedly connected with universal wheel
205。
As shown in figure 3, lead-screw drive mechanism mainly includes end cap 301, rolling bearing pedestal B 302, rolling bearing 303, leads
Bar 304, lead screw 305, support rod A 306-1, support rod B 306-2, guide rod disc 307, feed screw nut 308, rolling bearing pedestal A
309, transparent cover 310, shaft coupling 311, AC decelerating motor 312 and AC decelerating motor mounting seat 313.Wherein, rolling bearing pedestal A
309 and rolling bearing pedestal B 302 is separately fixed on chassis 102, is respectively equipped with a rolling in the inside of two rolling bearing pedestals
The both ends of dynamic bearing 303, lead screw 305 are plugged in rolling bearing respectively, and are subject to axial restraint by shaft block ring respectively.Silk
Thick stick screw thread is trapezoidal thread, keeps inner support work self-locking in any operating position.Two feed screw nuts are installed to top on lead screw
308, each feed screw nut is fixedly connected with guide rod disc, and two guide rod discs 307 are socketed on lead screw.It is set respectively in each guide rod disc
There are two through-holes.The both ends of two guide rods 304 are successively plugged in the through-hole of two guide rod discs, and pass through end cap 301 respectively
With 310 axial restraint of transparent cover.The both ends of two guide rods all extend to the outside of guide rod disc, and are separately fixed at two rolling bearings
In the guide rod installing hole of seat.AC decelerating motor mounting seat 313 is equipped on the outside, chassis of wherein rolling bearing pedestal A, in AC
Decelerating motor mounting seat is equipped with AC decelerating motor 312.One end of lead screw extends to the outside of a rolling bearing, lead screw
One end is connected by shaft coupling 311 with the output shaft of AC decelerating motor.Corresponding position on the outer wall of two guide rod discs, if
There are three groups of trunnions, is connected respectively by screw with a support rod A 306-1 in three groups of trunnions of a positioning disk, every branch
Strut B 306-2 passes through screw respectively and is connected with the corresponding trunnion on another positioning disk.
As shown in Fig. 4 to Fig. 5, inner support mechanism mainly includes supporting block B 503, supporting block A 504, straight-line guide rail slide block
505, linear guide guide rod 502, support frame 501.Three supporting block A and three supporting block B are staggeredly adjacent, in each supporting block A
Upper to be bolted to connection two straight-line guide rail slide blocks respectively, two straight-line guide rail slide blocks are slidably connected at linear guide respectively
On guide rod.Each linear guide guide rod is separately fixed on a supporting block B, and each linear guide guide rod is slidably connected two respectively
A straight-line guide rail slide block, i.e. a straight-line guide rail slide block of the two supporting block A adjacent with supporting block B or so.In each straight line
A support frame is equipped in the middle part of guide rail guide rod, each support frame passes through screw respectively and mutually cuts with scissors with support rod A, support rod B
It connects.
As shown in Figure 1, being fixedly connected with power source 103 on the outside, chassis 102 of rolling bearing pedestal B.Power source 103 is defeated
Out two kinds of simple harmonic quantity alternating currents of 110V and 220V and give control module provide power supply, cruise duration can be at 8 hours or more.
Also, image capturing system 104 is flexibly connected by screw on the other side of power source 103, chassis 102.Figure
As acquisition system 104 can observe the work condition environment of pipe robot in real time, and operating condition image is wirelessly transmitted to external image
Display, for operator's real-time operation.
As shown in Figure 1, control module 107 is located at the lower part on chassis 102, it is placed between 4 running modules 101.Also, it controls
Molding block 107 can control 4 synchronous decelerating motors of 4 running modules 101 and the AC decelerating motor of lead-screw drive mechanism 105
Starting, stopping and positive and negative rotation.
Pipe robot according to the present invention is in the work progress that pipeline docks, 4 traveling moulds being mounted on chassis
Block 101 constitutes the running gear of pipe robot, by the control of control module 107, so that four collaboration fortune of running module 101
It is dynamic, form the universal movement of pipe robot running gear.In the co- controlling of control module 106 and image capturing system 104
Under, the cooperative motion of running module 101 makes pipe robot carry out direction movement and accurate positioning.Lead-screw drive mechanism 105
Under the driving of AC decelerating motor, drives lead screw 305 to rotate by shaft coupling 311, then pass through feed screw nut 308 and guide rod disc
307 rotate lead screw 305 the opposite or reversed linear motion for becoming two guide rod discs 307, then drive support rod A and support
Bar B, so that support rod A and support rod B makees opening and contractile motion.In the support rod A and support rod B of lead-screw drive mechanism 105
Opening and contractile motion under, drive supporting block B radial motion, realize inner support mechanism 106 stretching, extension and contractile motion.And
And lead-screw drive mechanism 105 drive under, inner support mechanism 106 carry out stretching, extension and contractile motion to be stretched at it is whole
When round structure, uniform internal support force is provided for pipeline docking, to carry out Dock With Precision Position, to neutralization school circle to pipeline.
It should be pointed out that pipe robot according to the present invention, the above merely illustrative example of purpose of preferred embodiment, for
For those skilled in the art of the present technique, under the premise of not departing from the range of appended claims of the present invention, it can also make each
Kind improvement and modification, these improvements and modifications should be considered as belonging to protection scope of the present invention.
Drawing reference numeral illustrates list:
101 running modules
102 chassis
103 power sources
104 image capturing systems
105 lead-screw drive mechanisms
106 inner support mechanisms
107 control modules
201 synchronous decelerating motors
202 sliding bearings
203 plain bearing housings
204 ring flanges
205 universal wheels
301 end caps
302 rolling bearing pedestal B
303 rolling bearings
304 guide rods
305 lead screws
306-1 support rod A
306-2 support rod B
307 guide rod discs
308 feed screw nuts
309 rolling bearing pedestal A
310 transparent covers
311 shaft couplings
312 AC decelerating motors
313 AC decelerating motor mounting seats
501 support frames
502 linear guide guide rods
503 supporting block B
504 supporting block A
505 straight-line guide rail slide blocks
Claims (10)
1. a kind of pipe robot for pipeline docking interior construction, which is characterized in that the pipe robot includes: bottom
Disk, running module, power source, lead-screw drive mechanism, control module, inner support mechanism and image capturing system；And
Wherein, the chassis is plate shaped；The lower part on the chassis is arranged in the running module；The lead-screw drive mechanism and
The top on the chassis is arranged in the power source；The inner support mechanism passes through support rod and the lead-screw drive mechanism phase
Even；Also, the top that the chassis is arranged in described image acquisition system is placed in the side of the power source；The control mould
The lower part on the chassis is arranged in block.
2. pipe robot as described in claim 1, which is characterized in that the running module includes sliding bearing, sliding axle
Hold seat, synchronous decelerating motor, ring flange and universal wheel；And
Wherein, the sliding bearing is matched with the plain bearing housing, and the plain bearing housing is connect with the chassis；
The synchronous decelerating motor and the ring flange are separately positioned on the two sides of the plain bearing housing；And the one of the ring flange
Side is socketed on the output shaft of the synchronous decelerating motor；Also, the outer wall of the ring flange side and the sliding bearing
Inner wall connects；The other side of the ring flange connects the universal wheel.
3. pipe robot as described in claim 1, which is characterized in that wherein, the lead-screw drive mechanism includes that AC slows down
Motor, motor installation base, shaft coupling, guide rod, guide rod disc, lead screw, feed screw nut, support rod, rolling bearing, rolling bearing
Seat, transparent cover, end cap；And
Wherein, under the driving of the AC decelerating motor, the shaft coupling drives the lead screw rotation, and is further driven to described
Support rod makees opening and contractile motion；Also, under the opening of the support rod and contractile motion effect, drive the supporting block
Radial motion, so that the inner support mechanism carries out stretching, extension and contractile motion.
4. pipe robot as described in claim 1, which is characterized in that wherein, the inner support mechanism includes supporting block
A, supporting block B, sliding block, guide rod and support frame；Also,
Wherein, the supporting block A and supporting block B is multiple, and the support frame of the supporting block A and the supporting block B
Staggeredly it is disposed adjacent；Each supporting block A is separately connected two sliding blocks, and described two sliding blocks are connected to described lead
On bar；Also, each guide rod is separately fixed on the supporting block B, each linear guide guide rod company of sliding respectively
Connect the sliding block of two supporting block A；Support frame as described above be arranged on each guide rod, and each support frame as described above respectively with institute
State supporting block A, the supporting block B is hinged, supporting mechanism inside the pipeline to form the single-degree-of-freedom of multiple prismatic pairs.
5. pipe robot as claimed in claim 4, which is characterized in that wherein, the inner support mechanism, which is able to carry out, stretches
Exhibition and contractile motion provide support force inside uniform for pipeline docking and when being stretched over completely circular structure, with to pipeline into
Row Dock With Precision Position justifies neutralization school.
6. pipe robot as claimed in claim 2, which is characterized in that wherein, the running module is multiple also, more
A running module is symmetricly set on the lower part on the chassis.
7. pipe robot as described in claim 1, which is characterized in that wherein, the control module is arranged multiple described
Between walking module.
8. pipe robot as described in claim 1, which is characterized in that wherein, the control module controls the traveling mould
Starting, stopping and the positive and negative rotation of the AC decelerating motor of the synchronization decelerating motor and lead-screw drive mechanism of block.
9. pipe robot as described in claim 1, which is characterized in that wherein, described image acquisition system can be seen in real time
Survey the construction environment of the pipe robot, and by operating condition image to be transmitted to external image display so that operator into
Row real-time operation.
10. pipe robot as described in claim 1, which is characterized in that wherein, adopted in the control module and described image
Under the control of collecting system, the cooperative motion of the running module makes the pipe robot carry out direction movement and accurately determine
Position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811352040.7A CN109296868B (en) | 2018-11-14 | 2018-11-14 | A kind of pipe robot for pipeline docking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811352040.7A CN109296868B (en) | 2018-11-14 | 2018-11-14 | A kind of pipe robot for pipeline docking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109296868A true CN109296868A (en) | 2019-02-01 |
| CN109296868B CN109296868B (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811352040.7A Active CN109296868B (en) | 2018-11-14 | 2018-11-14 | A kind of pipe robot for pipeline docking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110778789A (en) * | 2019-10-29 | 2020-02-11 | 余蝶双 | Pipeline installation equipment for hydraulic engineering |
| CN117090997A (en) * | 2023-09-01 | 2023-11-21 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2198066Y (en) * | 1994-06-21 | 1995-05-24 | 辽河石油勘探局油建二公司 | Inner butt joint device of large aperture pipe |
| CN103692141A (en) * | 2013-11-04 | 2014-04-02 | 国家电网公司 | Auxiliary supporting tool for butt welding of barrels |
| CN105689785B (en) * | 2016-05-01 | 2017-12-12 | 江苏金猫机器人科技有限公司 | A kind of steel-belt-pipe pipe inner support ring cutting robot |
| CN206036519U (en) * | 2016-09-30 | 2017-03-22 | 福建（泉州）哈工大工程技术研究院 | Many functional type urban drainage pipeline inspection robot |
| CN206398263U (en) * | 2016-11-08 | 2017-08-11 | 西华大学 | A kind of new pipeline robot |
-
2018
- 2018-11-14 CN CN201811352040.7A patent/CN109296868B/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110778789A (en) * | 2019-10-29 | 2020-02-11 | 余蝶双 | Pipeline installation equipment for hydraulic engineering |
| CN117090997A (en) * | 2023-09-01 | 2023-11-21 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
| CN117090997B (en) * | 2023-09-01 | 2024-01-26 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
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| Publication number | Publication date |
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| CN109296868B (en) | 2019-09-27 |
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Inventor after: Zheng Haiwu Inventor after: Zhao Yuliang Inventor after: Song Peiyu Inventor after: Hou Jianchang Inventor after: Wang Yiming Inventor after: Qi Zhenkun Inventor after: Wen Hao Inventor after: Zhang Liandong Inventor after: Zhao Deying Inventor before: Zhao Deying Inventor before: Zhao Yuliang Inventor before: Song Peiyu Inventor before: Hou Jianchang Inventor before: Wang Yiming Inventor before: Qi Zhenkun Inventor before: Wen Hao Inventor before: Zhang Liandong |
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Effective date of registration: 20210712 Address after: Room 506, office building, 185 Longhai Road, Qinhuangdao Economic and Technological Development Zone, Hebei Province 066000 Patentee after: QINHUANGDAO XINNENG ENERGY EQUIPMENT Co.,Ltd. Address before: 066004 No. 438 west section of Hebei Avenue, seaport District, Hebei, Qinhuangdao Patentee before: Yanshan University |