CN109442138A - Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline - Google Patents
Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline Download PDFInfo
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- CN109442138A CN109442138A CN201811368582.3A CN201811368582A CN109442138A CN 109442138 A CN109442138 A CN 109442138A CN 201811368582 A CN201811368582 A CN 201811368582A CN 109442138 A CN109442138 A CN 109442138A
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- gear
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- main
- magnetic absorption
- traveling type
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Abstract
The invention discloses a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robots, it is related to robotic technology field, specially a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, including shell, defectoscope and turntable, it is characterized by: the shell is internally provided with main servo motor, and the two sides up and down of main servo motor are mounted on rack gear, the rack gear is equipped with main regulation gear far from one end of main servo motor, and the two sides up and down of main regulation gear are mounted on secondary adjustment gear, magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, the direction of infrared camera can effectively be changed by turntable, the space that infrared camera can be recorded can effectively be increased, the situation inside mine hole can clearly be recorded, the detection effect of pipeline can either be effectively improved Rate, and injury of the dangerous obstacles to robot can be reduced, additionally it is possible to reliable Informational support is provided for maintenance personnel.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of magnetic absorption traveling type offshore oilfield pipeline is safeguarded with soft
Body robot.
Background technique
Robot has been widely used in the numerous areas such as military affairs, industry, scientific exploration, and traditional robot is generally by rigid
Property module connected and composed by kinematic pair, each kinematic pair provides a translational degree of freedom or rotational freedom, all kinematic pairs
Movement combination formed end effector of robot working space, this robot have the advantages that movement it is accurate, but its knot
The rigidity of structure keeps the adaptability of its environment poor, its movement is restricted in narrow space, can not be less than machine by scale
Device people scale or complex-shaped channel, these disadvantages constrain utilization of the rigid machine people in specific area, present market
On there is a kind of robot of software, be fabricated from a flexible material, can arbitrarily change its own shape and ruler in a wide range of
It is very little.
A kind of in-pipe robot disclosed in Chinese invention patent application prospectus CN2719507Y, machine in the pipe
Device people, although can be welded inside pipeline, the in-pipe robot volume is larger, and the size of robot cannot be very
The good complex passages adapted to inside pipeline, will cannot carry out magnetic absorption well between robot and inner wall of the pipe, be machine
Stable support is provided between device people and pipeline, the welding situation inside pipeline cannot be detected well, it cannot be fine
It is that robot provides two separate modes of support, the ability of the bumper and absorbing shock of robot cannot be improved well, it cannot be very
The moving direction of good change robot, and the collision to evading between robot and barrier, cannot be well to pipeline
Internal situation is recorded.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of magnetic absorption traveling type offshore oilfield pipelines to safeguard with soft
Body robot, solves that the in-pipe robot volume mentioned above in the background art is larger, and the size of robot cannot be fine
Adapt to pipeline inside complex passages, magnetic absorption will cannot be carried out between robot and inner wall of the pipe well, be machine
Stable support is provided between people and pipeline, the welding situation inside pipeline cannot be detected well, it cannot be good
Two separate modes of support is provided for robot, the ability of the bumper and absorbing shock of robot cannot be improved well, it cannot be fine
Change robot moving direction, and the collision to evading between robot and barrier cannot be well in pipeline
The problem of the case where portion, is recorded.
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of magnetic absorption traveling type seabed
Petroleum pipeline maintenance soft robot, including shell, defectoscope and turntable, it is characterised in that: the inside of the shell is arranged
There is main servo motor, and the two sides up and down of main servo motor are mounted on rack gear, the one end of the rack gear far from main servo motor
Main regulation gear is installed, and the two sides up and down of main regulation gear are mounted on secondary adjustment gear, the pair adjustment gear is separate
One end of rack gear is equipped with adjusting rod, and the front end of the main servo motor is equipped with air bag, and the front end of the turntable is equipped with red
Outside line camera, and turntable is located at the front end of shell, is mounted on pedestal at left and right sides of the defectoscope, and defectoscope is located at
The rear end of shell, the pedestal is internally provided with internal gear disc, and the rear end of internal gear disc is equipped with protective case, the inside of the protective case
It is provided with main regulation motor, and the rear end of main regulation motor is equipped with main helical gear, the main helical gear is far from main regulation motor
The one end at center secondary helical gear is installed, and secondary helical gear is equipped with soft wheel far from main helical gear one end.
Optionally, the main servo motor, main range sensor, magnet pulley, secondary adjustment gear, secondary servo motor and it is secondary away from
Vertical centerline between equal from sensor about shell is symmetrical, and the outside of magnet pulley is in teeth shape structure.
Optionally, the adjusting rod constitutes stretching structure with magnet pulley by the cooperation between guide rod and spring, and leads
It is less than the inner width of adjusting rod to the external width of bar.
Optionally, the adjusting rod passes through the cooperation and drive between main regulation gear, secondary adjustment gear and rack gear three
Motor constitutes engaged transmission, and guide rod is through the edge of adjusting rod.
Optionally, the main servo motor engages biography with pedestal composition by the cooperation between internal gear disc and driving gear
It is dynamic, and the vertical centerline between pedestal about defectoscope is symmetrical, and about the horizontal center line of pedestal between soft wheel
It is symmetrical.
Optionally, the guide rod is through the inside of oil ring and the inside of immersion oil sponge, and guide rod by spring with
Elastic construction is constituted between adjusting rod.
Optionally, connectivity structure, and the outside of air bag are constituted by the cooperation between tracheae and air pump between the air bag
It is locally fitted closely between the inside of shell.
Optionally, the soft wheel is integrally formed formula structure, and the external table of the interior surface of sucker and magnetite by sucker
It is locally fitted closely between face, and the inside of sucker is in bell-mouth structure of air.
Optionally, the infrared camera, which passes through, constitutes rotational structure between micromotor and turntable, and in turntable
Axis is perpendicular to shell.
The present invention provides a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, having following has
Beneficial effect:
1. magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, can be effectively by robot by magnetite
The magnetic absorption between pipeline provides stable support construction for robot, can be effective by the bell-mouth structure of air of sucker
Increase the adsorption capacity between robot and pipeline, prevent robot from falling, improves the stabilization connecting between robot and pipeline
Property, the inside of air bag can be effectively directed the air by the cooperation between tracheae and air pump, and air bag is made to form one layer of machine
The exterior protection layer of people can effectively slow down the shock dynamics between robot and pipeline internal reasons, mitigate robot
Required magnetic force reduces the loss of robot electric energy, mitigates the weight of robot itself.
2. magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, by internal gear disc and driving gear it
Between cooperation can effectively improve the power transmission efficiency of main servo motor, when reducing the work of main servo motor workpiece it
Between the mechanical wear that generates, guarantee that main servo motor being capable of the steady and sustained mating band by between internal gear disc and driving gear
Dynamic base rotation is had convenient for robot according to the bending state of pipeline or the angle of connection by the angle of adjustment base
The moving direction of the control robot of effect, guarantees that robot stable can be moved inside pipeline, while passing through flaw detection
Instrument detects the weld inside pipeline, guarantees the safety that pipeline uses, prevents the leakage of petroleum, to effectively improve
The efficiency of pipe-line maintenance.
3. magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, passes through guide rod, adjusting rod and bullet
Cooperation between spring three can effectively control magnet pulley along the moving distance in the central axes direction of adjusting rod, be convenient for robot
According to the width inside pipeline, the length between magnet pulley, guide rod and adjusting rod three is controlled, it will by magnet pulley
Magnetic connection is carried out between robot and inner wall of the pipe, provides reliable support, when preventing robot from falling, machine for robot
Shock is generated between people and pipeline, is caused the building block of robot interior or precision component to damage, is made robot not
Maintenance work can be carried out well, causes robot work efficiency drop, both can effectively be guide rod by immersion oil sponge
Lubricant effect is provided, mitigates the mechanical wear between guide rod and adjusting rod, and can effectively mitigate adjusting rod and guide rod
Between shock dynamics, oil leakage can effectively be prevented by oil ring, while the company between guide rod and adjusting rod
One layer of lubricating oil of place's covering is connect, prevents the junction attrition between guide rod and adjusting rod too fast or gets rusty, guarantee guiding
It being capable of steady and sustained prolonged work between bar and adjusting rod.
4. magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, can effectively be changed by turntable
The direction of infrared camera can effectively increase the space that infrared camera can be recorded, can clearly record mine
Situation inside hole can either effectively improve the detection efficient of pipeline, and can reduce injury of the dangerous obstacles to robot, also
Reliable Informational support can be provided for maintenance personnel.
5. magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, by main range sensor and it is secondary away from
Robot can be effectively helped to find out the barrier in the mobile route inside pipeline from the cooperation between sensor,
It prevents barrier from weakening the magnetic force attraction between robot and inner wall of the pipe, robot is caused to fall from inner wall of the pipe
It falls, prevents robot from the uniform velocity moving along inner wall of the pipe well, influence the time of robot movable, moved when robot changes
It, can be by the cooperation between main range sensor and secondary range sensor effectively to the four of pipeline movement when direction or angle
Zhou Jinhang detection guarantees robot stabilized rotation or reconciles direction.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the present invention；
Fig. 2 is the rear end structure schematic diagram of shell of the present invention；
Fig. 3 is airbag structure schematic diagram of the present invention；
Fig. 4 is the rear end structure schematic diagram of the soft wheel of the present invention；
Fig. 5 is the side structure schematic view of the soft wheel of the present invention；
Fig. 6 is the schematic diagram of internal structure of adjusting rod of the present invention；
Fig. 7 is the front-end architecture schematic diagram of shell of the present invention；
Fig. 8 is the schematic diagram of internal structure of protective case of the present invention.
In figure: 1, shell；2, main servo motor；3, main range sensor；4, magnet pulley；5, guide rod；6, adjusting rod；7,
Drive motor；8, main regulation gear；9, rack gear；10, secondary adjustment gear；11, secondary servo motor；12, secondary range sensor；13,
Pedestal；14, internal gear disc；15, driving gear；16, defectoscope；17, air bag；18, tracheae；19, air pump；20, soft wheel；21, sucker；
22, magnetite；23, protective case；24, oil ring；25, immersion oil sponge；26, spring；27, infrared camera；28, turntable；29, micro electric
Machine；30, main regulation motor；31, main helical gear；32, secondary helical gear.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two or more；Term " on ",
The orientation or positional relationship of the instructions such as "lower", "left", "right", "inner", "outside", " front end ", " rear end ", " head ", " tail portion " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention, in addition, term " first ", " second ", " third " etc. are used for description purposes only, and should not be understood as instruction or
Imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " connected " " connects
Connect " it shall be understood in a broad sense, for example, it may be being fixedly connected, it may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, it can also indirectly connected through an intermediary, for this field
For those of ordinary skill, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
Fig. 1 to Fig. 8 is please referred to, the present invention provides a kind of technical solution: a kind of magnetic absorption traveling type offshore oilfield pipeline
Maintenance soft robot, including shell 1, defectoscope 16 and turntable 28, shell 1 are internally provided with main servo motor 2, and main
The two sides up and down of servo motor 2 are mounted on rack gear 9, and rack gear 9 is equipped with main regulation gear 8 far from one end of main servo motor 2,
And the two sides up and down of main regulation gear 8 are mounted on secondary adjustment gear 10, secondary adjustment gear 10 is equipped with far from one end of rack gear 9
Adjusting rod 6, and adjusting rod 6 is internally provided with spring 26, adjusting rod 6 pass through cooperation between guide rod 5 and spring 26 and magnetic
Property wheel 4 constitute stretching structure, and the external width of guide rod 5 be less than adjusting rod 6 inner width, spring 26 is far from adjusting rod 6
One end immersion oil sponge 25 is installed, and one end of the separate spring 26 of immersion oil sponge 25 is equipped with oil ring 24, and guide rod 5 runs through
In the inside of oil ring 24 and the inside of immersion oil sponge 25, and guide rod 5 passes through composition elasticity knot between spring 26 and adjusting rod 6
Structure, magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, passes through guide rod 5, adjusting rod 6 and spring 26 3
Cooperation between person can effectively control magnet pulley 4 along the moving distance in the central axes direction of adjusting rod 6, be convenient for robot root
According to the width inside pipeline, the length between 6 three of magnet pulley 4, guide rod 5 and adjusting rod is controlled, magnet pulley 4 is passed through
Magnetic connection will be carried out between robot and inner wall of the pipe, provide reliable support, when preventing robot from falling, machine for robot
Shock is generated between device people and pipeline, is caused the building block of robot interior or precision component to damage, is made robot
Maintenance work cannot be carried out well, causes robot work efficiency drop, both can effectively have been led by immersion oil sponge 25
Lubricant effect is provided to bar 5, mitigates the mechanical wear between guide rod 5 and adjusting rod 6, and can effectively mitigate adjusting rod 6
Shock dynamics between guide rod 5 can effectively prevent oil leakage by oil ring 24, while for guide rod 5 and adjust
Junction between pole 6 covers one layer of lubricating oil, prevents the junction attrition between guide rod 5 and adjusting rod 6 too fast
Or get rusty, guaranteeing being capable of steady and sustained prolonged work between guide rod 5 and adjusting rod 6；
Guide rod 5, and the one end of guide rod 5 far from adjusting rod 6 are installed far from one end of secondary adjustment gear 10 by adjusting rod 6
Magnet pulley 4 is installed, adjusting rod 6 passes through the cooperation and drive between main regulation gear 8, secondary adjustment gear 10 and 9 three of rack gear
Motor 7 constitutes engaged transmission, and guide rod 5, through the edge of adjusting rod 6, the left side of main servo motor 2 is equipped with main distance
Sensor 3, the right side of main servo motor 2 is equipped with secondary servo motor 11, and the right side of secondary servo motor 11 is equipped with secondary distance
Sensor 12, main servo motor 2, main range sensor 3, magnet pulley 4, secondary adjustment gear 10, secondary servo motor 11 and secondary distance
Vertical centerline between sensor 12 6 is equal about shell 1 is symmetrical, and the outside of magnet pulley 4 is in teeth shape structure,
Magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, passes through main range sensor 3 and secondary range sensor
Cooperation between 12 can effectively help robot to find out the barrier in the mobile route inside pipeline, prevent from hindering
Hinder object to weaken the magnetic force attraction between robot and inner wall of the pipe, causes robot to fall from inner wall of the pipe, make machine
Device people cannot at the uniform velocity move along inner wall of the pipe well, influence the time of robot movable, when robot change moving direction or
It, can be by the cooperation between main range sensor 3 and secondary range sensor 12 effectively to the surrounding of pipeline movement when angle
It is detected, guarantee robot stabilized rotation or reconciles direction；
The front end of main servo motor 2 is equipped with air bag 17, and air bag 17 is internally provided with tracheae 18, the middle part installation of tracheae 18
Have an air pump 19, connectivity structure constituted by the cooperation between tracheae 18 and air pump 19 between air bag 17, and the outside of air bag 17 with
It is locally fitted closely between the inside of shell 1, magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot passes through
Magnetite 22 can provide stable support construction for robot, pass through suction effectively by magnetic absorption between robot and pipeline
The bell-mouth structure of air of disk 21 can effectively increase the adsorption capacity between robot and pipeline, prevent robot from falling, and improve machine
The stability connecting between device people and pipeline can be directed the air into effectively by the cooperation between tracheae 18 and air pump 19
The inside of air bag 17 makes air bag 17 form the exterior protection layer of one layer of robot, can effectively slow down in robot and pipeline
Shock dynamics between portion's barrier mitigates magnetic force required for robot, reduces the loss of robot electric energy, mitigates robot
The weight of itself, the front end of shell 1 is equipped with turntable 28, and the front end of turntable 28 is equipped with infrared camera 27, infrared ray
The top of camera 27 is equipped with micromotor 29, and infrared camera 27, which passes through, constitutes rotation between micromotor 29 and turntable 28
Rotation structure, and the central axes of turntable 28 are perpendicular to shell 1, magnetic absorption traveling type offshore oilfield pipeline maintenance software machine
People can effectively change the direction of infrared camera 27 by turntable 28, can effectively increase infrared camera 27
The space that can be recorded, can clearly record the situation inside mine hole, can either effectively improve the detection efficient of pipeline, and energy
Enough reduce injury of the dangerous obstacles to robot, additionally it is possible to provide reliable Informational support, the rear end peace of shell 1 for maintenance personnel
The left and right sides equipped with defectoscope 16, and defectoscope 16 is mounted on pedestal 13, and main servo motor 2 is by internal gear disc 14 and actively
Cooperation and pedestal 13 between gear 15 constitute engaged transmission, and the vertical centerline between pedestal 13 about defectoscope 16 is symmetrical
Distribution, and the horizontal center line between soft wheel 20 about pedestal 13 is symmetrical, the magnetic absorption traveling type submarine oil pipe
Road maintenance soft robot, can effectively improve main servo motor by the cooperation between internal gear disc 14 and driving gear 15
2 power transmission efficiency reduces the mechanical wear generated between workpiece when main servo motor 2 works, guarantees main servo electricity
Machine 2 can the steady and sustained cooperation by between internal gear disc 14 and driving gear 15 drive pedestal 13 to rotate, be convenient for robot
According to the bending state of pipeline or the angle of connection, the movement of effective control robot is carried out by the angle of adjustment base 13
Direction guarantees that robot stable can be moved inside pipeline, while by defectoscope 16 to the welding inside pipeline
Place is detected, and is guaranteed the safety that pipeline uses, is prevented the leakage of petroleum, to effectively improve the efficiency of pipe-line maintenance, bottom
Seat 13 is internally provided with internal gear disc 14, and internal gear disc 14 is internally provided with driving gear 15, the rear end installation of internal gear disc 14
There is a protective case 23, and protective case 23 is internally provided with main regulation motor 30, the rear end of main regulation motor 30 is equipped with main helical gear 31,
And the one end at main center of the helical gear 31 far from main regulation motor 30 is equipped with secondary helical gear 32, secondary helical gear 32 is far from main helical teeth
One end of wheel 31 is equipped with soft wheel 20, and 20 deep one end of soft wheel are equipped with sucker 21, and sucker 21 is internally provided with
Magnetite 22, soft wheel 20 are integrally formed formula structure by sucker 21, and the outer surface of the interior surface of sucker 21 and magnetite 22 it
Between locally fit closely, and the inside of sucker 21 be in bell-mouth structure of air.
To sum up, magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, in use, firstly, starting master
Adjust motor 30(JS-3420), main regulation motor 30 drives soft wheel by the cooperation between main helical gear 31 and secondary helical gear 32
20 rotations, improve main regulation motor 30 to the bearing capacity of robot, by magnetite 22 can effectively by robot and pipeline it
Between magnetic absorption, stable support construction is provided for robot, machine can effectively be increased by the bell-mouth structure of air of sucker 21
Adsorption capacity between device people and pipeline, prevents robot from falling, and improves the stability connecting between robot and pipeline；
Secondly, being passed by the power that the cooperation between internal gear disc 14 and driving gear 15 can effectively improve main servo motor 2
Efficiency is passed, main servo motor 2(PLX is started), main servo motor 2 steady and sustained can pass through internal gear disc 14 and driving gear 15
Between cooperation drive pedestal 13 to rotate, convenient for robot according to the bending state of pipeline or the angle of connection, pass through and adjust bottom
The angle of seat 13 carries out the moving direction of effective control robot, guarantees that robot stable can be moved inside pipeline
It is dynamic, while the weld inside pipeline is detected by defectoscope 16(BJ20180711F), guarantee the peace that pipeline uses
Entirely, the leakage of petroleum is prevented, so that the efficiency for effectively improving pipe-line maintenance thirdly passes through guide rod 5, adjusting rod 6 and bullet
Cooperation control magnet pulley 4 between 26 three of spring is along the moving distance in the central axes direction of adjusting rod 6, and robot is according in pipeline
The width in portion controls the length between 6 three of magnet pulley 4, guide rod 5 and adjusting rod, by magnet pulley 4 by robot
Magnetic connection is carried out between inner wall of the pipe, provides reliable support for robot, when preventing robot from falling, robot and pipe
Shock is generated between road, the building block of robot interior or precision component is caused to damage, and make robot cannot be fine
Carry out maintenance work, cause robot work efficiency drop, both can effectively be provided by immersion oil sponge 25 for guide rod 5
Lubricant effect mitigates the mechanical wear between guide rod 5 and adjusting rod 6, and can effectively mitigate adjusting rod 6 and guide rod 5
Between shock dynamics, oil leakage can effectively be prevented by oil ring 24, while between guide rod 5 and adjusting rod 6
Junction cover one layer of lubricating oil, prevent the junction attrition between guide rod 5 and adjusting rod 6 too fast or get rusty, protect
Demonstrate,prove between guide rod 5 and adjusting rod 6 can steady and sustained prolonged work, starting drives motor 7(PLX), drive motor 7
By the rotational angle of the cooperation control adjusting rod 6 between main regulation gear 8, secondary adjustment gear 10 and 9 three of rack gear, work as machine
People be moved to barrier it is larger when, pass through matching between adjusting rod 6, main regulation gear 8, secondary adjustment gear 10 and rack gear 9 four
Closing can be effectively mobile by the central axes direction of Robot pipeline, prevents robot from falling, then, booster air pump 19
(1151), the inside that air bag 17 can be effectively directed the air by the cooperation between tracheae 18 and air pump 19, makes air bag 17
The exterior protection layer of one layer of robot is formed, the impact force between robot and pipeline internal reasons can be effectively slowed down
Degree mitigates magnetic force required for robot, reduces the loss of robot electric energy, mitigates the weight of robot itself, meanwhile, pass through
Turntable 28 can effectively change infrared camera 27(MINI-6) direction, can effectively increase infrared camera 27
The space that can be recorded, can clearly record the situation inside mine hole, can either effectively improve the detection efficient of pipeline, and energy
Enough reduce injury of the dangerous obstacles to robot, additionally it is possible to provide reliable Informational support for maintenance personnel；
Finally, passing through main range sensor 3(Risym) and pair range sensor 12(Risym) between cooperation can be effectively
It helps robot to find out the barrier in the mobile route inside pipeline, prevents barrier by robot and inner wall of the pipe
Between magnetic force attraction weakened, cause robot to fall from inner wall of the pipe, prevent robot from well along pipeline
Wall at the uniform velocity moves, and influences the time of robot movable, when robot changes moving direction or angle, can be passed by main distance
Cooperation between sensor 3 and secondary range sensor 12 effectively detects the surrounding of pipeline movement, guarantees robot stabilized
Rotation or reconcile direction.
More than, it is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any
Those familiar with the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its invents
Design is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (9)
1. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot, including shell (1), defectoscope (16) and
Turntable (28), it is characterised in that: the shell (1) is internally provided with main servo motor (2), and main servo motor (2) is upper
Lower two sides are mounted on rack gear (9), and the rack gear (9) is equipped with main regulation gear (8) far from the one end of main servo motor (2),
And the two sides up and down of main regulation gear (8) are mounted on secondary adjustment gear (10), the pair adjustment gear (10) is far from rack gear (9)
One end be equipped with adjusting rod (6), the front end of the main servo motor (2) is equipped with air bag (17), before the turntable (28)
End is equipped with infrared camera (27), and turntable (28) is located at the front end of shell (1), the left and right sides of the defectoscope (16)
It is mounted on pedestal (13), and defectoscope (16) is located at the rear end of shell (1), the pedestal (13) is internally provided with internal gear disc
(14), and the rear end of internal gear disc (14) is equipped with protective case (23), and the protective case (23) is internally provided with main regulation motor (30),
And the rear end of main regulation motor (30) is equipped with main helical gear (31), the main helical gear (31) is far from main regulation motor (30)
The one end at center is equipped with secondary helical gear (32), and secondary helical gear (32) is equipped with soft wheel far from the one end of main helical gear (31)
(20).
2. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: the main servo motor (2), main range sensor (3), magnet pulley (4), secondary adjustment gear (10), secondary servo motor
(11) and secondary range sensor (12) six it is equal between about shell (1) vertical centerline it is symmetrical, and magnet pulley (4)
Outside is in teeth shape structure.
3. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: the adjusting rod (6) constitutes stretching structure with magnet pulley (4) by the cooperation between guide rod (5) and spring (26),
And the external width of guide rod (5) is less than the inner width of adjusting rod (6).
4. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: the adjusting rod (6) by cooperation between main regulation gear (8), secondary adjustment gear (10) and rack gear (9) three and
Motor (7) are driven to constitute engaged transmission, and guide rod (5) is through the edge of adjusting rod (6).
5. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: the main servo motor (2) passes through the cooperation and pedestal (13) composition between internal gear disc (14) and driving gear (15)
Engaged transmission, and the vertical centerline between pedestal (13) about defectoscope (16) is symmetrical, and closes between soft wheel (20)
It is symmetrical in the horizontal center line of pedestal (13).
6. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 3, special
Sign is: the guide rod (5) is through the inside of oil ring (24) and the inside of immersion oil sponge (25), and guide rod (5) passes through
Elastic construction is constituted between spring (26) and adjusting rod (6).
7. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: constituting connectivity structure, and air bag by the cooperation between tracheae (18) and air pump (19) between the air bag (17)
(17) it is locally fitted closely between the inside of outside and shell (1).
8. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: the soft wheel (20) is integrally formed formula structure, and the interior surface of sucker (21) and magnetite (22) by sucker (21)
Outer surface between locally fit closely, and the inside of sucker (21) be in bell-mouth structure of air.
9. a kind of magnetic absorption traveling type offshore oilfield pipeline maintenance soft robot according to claim 1, special
Sign is: the infrared camera (27) is by constituting rotational structure, and turntable between micromotor (29) and turntable (28)
(28) central axes are perpendicular to shell (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811368582.3A CN109442138A (en) | 2018-11-16 | 2018-11-16 | Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811368582.3A CN109442138A (en) | 2018-11-16 | 2018-11-16 | Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109442138A true CN109442138A (en) | 2019-03-08 |
Family
ID=65553680
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811368582.3A Withdrawn CN109442138A (en) | 2018-11-16 | 2018-11-16 | Soft robot is used in a kind of maintenance of magnetic absorption traveling type offshore oilfield pipeline |
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| Country | Link |
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| CN (1) | CN109442138A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014430A (en) * | 2019-05-22 | 2019-07-16 | 黄卫良 | A kind of control device of robot |
| CN111022826A (en) * | 2019-12-10 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
| CN111516834A (en) * | 2020-04-21 | 2020-08-11 | 中国船舶科学研究中心 | Seabed raise dust and silt suppression device |
-
2018
- 2018-11-16 CN CN201811368582.3A patent/CN109442138A/en not_active Withdrawn
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110014430A (en) * | 2019-05-22 | 2019-07-16 | 黄卫良 | A kind of control device of robot |
| CN111022826A (en) * | 2019-12-10 | 2020-04-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
| CN111022826B (en) * | 2019-12-10 | 2020-11-17 | 天目爱视（北京）科技有限公司 | Three-dimensional acquisition equipment for inner wall of pipeline |
| CN111516834A (en) * | 2020-04-21 | 2020-08-11 | 中国船舶科学研究中心 | Seabed raise dust and silt suppression device |
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