CN109611642A - An energy self-sufficient in-pipe self-propelled robot - Google Patents
An energy self-sufficient in-pipe self-propelled robot Download PDFInfo
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- CN109611642A CN109611642A CN201910082772.7A CN201910082772A CN109611642A CN 109611642 A CN109611642 A CN 109611642A CN 201910082772 A CN201910082772 A CN 201910082772A CN 109611642 A CN109611642 A CN 109611642A
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- 238000010248 power generation Methods 0.000 claims description 20
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 12
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 230000008685 targeting Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 229910052742 iron Inorganic materials 0.000 claims description 5
- 230000005611 electricity Effects 0.000 abstract description 7
- 230000006978 adaptation Effects 0.000 abstract 1
- 239000007788 liquid Substances 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本发明针对传统有缆方式或无缆方式管道机器人在供电和管道内转弯自行走等问题上的不足，提出了一种能源自给式管道内自行走机器人。利用气流推动风轮发电，使动能转化为电能，对机载的蓄电池充电，电机驱动管道机器人运行，通过控制支撑轮与管壁之间的摩擦力，可以改变机器人的运动速度，使管道机器人能更可靠地在管道内长时间、远距离的工作。本装置适用于高流速、大管径的气体管道，也可以运用于管径较小的液体管道中，具有自动能源供给和自动适应管道路径功能，结构简单。
The invention proposes an energy self-sufficient in-pipe self-propelled robot in view of the shortcomings of the traditional cabled or cableless pipeline robot in terms of power supply and self-propelled turning in pipelines. Use the airflow to drive the wind turbine to generate electricity, convert the kinetic energy into electrical energy, charge the on-board battery, and the motor drives the pipeline robot to run. Work more reliably in pipelines over long, long distances. The device is suitable for gas pipelines with high flow rate and large diameter, and can also be used in liquid pipelines with small diameters. It has the functions of automatic energy supply and automatic adaptation to pipeline paths, and has a simple structure.
Description
Technical field
The invention belongs to Industrial Robot Technology fields, and it is interior from walking robot to be related to a kind of power self-support formula pipeline.
Background technique
In the fields such as general petroleum pipeline, industry, nuclear facilities, natural gas, military equipment, pipeline is as a kind of effective
Material transportation means are used widely.For improve pipeline service life, prevent leakage etc. accidents generation, it is necessary to periodically to its into
Row maintenance, pipe robot is precisely in order to meeting the pipe detection maintenance needs of efficiently and accurately and occurring and grow up.Pipe
There are two types of the energy resource supply modes of pipeline robot: having cable mode or untethered mode.To the pipeline machine for thering is cable mode to supply the energy
People, range are restricted, and reliability is not also high；And the energy without cable robot by storage battery power supply, stored by battery
Amount is limited after all, and is influenced by factors such as battery quality, charge technologies, thus the travel distance of robot nevertheless suffers from limit
System.
In view of the deficiencies of the prior art, it is interior from walking robot to propose a kind of power self-support formula pipeline, solves tradition
There are cable mode or untethered mode the pipe robot existing deficiency in terms of powerup issue, with the wind energy or fluid stream in pipeline
Energy charges to airborne battery, and pipe robot is enable more reliably to work for a long time, at a distance in pipeline.
Summary of the invention
It is an object of the invention to provide, from walking robot, solving tradition has cable mode or nothing in a kind of power self-support formula pipeline
Cable mode pipe robot power supply line in pipeline is limited, the unreliable, runing time of powering it is short and apart from it is short the problems such as.
In order to achieve the above object, The technical solution adopted by the invention is as follows:
A kind of power self-support formula pipeline is interior from walking robot, including power generation part 1, body part 2, guiding 3 three parts of department；
By the structure connection of the fixed additional spring of support rod 2-1 in three groups of centers between power generation part 1 and body part 2, outside is surrounded
There is telescopic 5；It is connected between body part 2 and guiding department 3 by the structure of the fixed additional spring of support rod 3-2, outside packet
It is with telescopic 5；The respective axis of three parts is parallel with conduit axis to be suitble to straight pipeline, can be between the axis of three parts
Certain angle is to be suitble to curved pipe；It is respectively installed there are three wheel assembly 4 is supported, often in the outside of power generation part 1 and body part 2
Three support wheel assemblies 4 are evenly arranged in same end face in triangle.
Power generation part 1 is made of wind wheel 1-1, transmission gear 1-2 and generator 1-3；Wind wheel 1-1 passes through transmission gear 1-2
It is co-axially mounted with generator 1-3, the axis and conduit axis of wind wheel 1-1 is coaxial.
Body part 2 is by the fixed support rod 2-1 in center, battery and control circuit 2-2, support wheel assembly 4 and telescopic 5
Composition；Three equally distributed support wheel assemblies 4 are assembled in 2 center assembled batteries of body part and control circuit 2-2, outside,
Body part 2 is connect with power generation part 1 by the structure of the fixed additional spring of support rod 2-1 in three groups of centers, and coupling part surrounds
There is telescopic 5.
Targeting part is by electromagnet assembly 3-1, iron wire 3-2, guiding head 3-3, spring 3-4, fixed support rod 3-5 and stretches
5 composition of contracting set；Fixed support rod 3-5 is that spherical linkage is connect with the connection for being oriented to head 3-3, is solid with robot body part
Fixed connection, three electromagnet assembly 3-1 are evenly distributed on the same plane perpendicular with fixed support rod 3-5.
Support wheel assembly 4 by support wheel 4-1, brake connecting rod 4-2, electromagnet 4-3, braking components 4-4, support spring 4-
5 and supporting fuselage bar 4-6 composition；Brake connecting rod 4-2 and braking components 4-4 links together, and the brake top connecting rod 4-2 connects
Electromagnet 4-3 is tied, the axle center support wheel 4-1 both ends respectively link the structure of a supporting fuselage bar 4-6 and additional support spring 4-5,
Two supporting fuselage bar 4-6 apical supports are on robot fuselage.
The beneficial effects of the present invention are: devising a kind of dependence air-flow promotion, kinetic energy can be converted into electric energy, and speed can be controlled
System, can change the Power Self-support In-pipe Robot of the direction of motion.With the wind energy or fluid flow energy promotion in pipeline
Wind wheel generation charges to airborne battery, and pipe robot is enable more reliably to work for a long time, at a distance in pipeline.
Detailed description of the invention
From the overall construction drawing of walking robot in a kind of power self-support formula pipeline of Fig. 1.
From the support wheel assembly main view of walking robot in a kind of power self-support formula pipeline of Fig. 2.
From the support wheel component left view of walking robot in a kind of power self-support formula pipeline of Fig. 3.
From the targeting part structure chart of walking robot in a kind of power self-support formula pipeline of Fig. 4.
F-F sectional view in Fig. 5 Fig. 4.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of power self-support formula pipeline is interior from walking robot, including pipe robot power generation part, body part, guiding
Part is total to three parts.
Power generation part head connects wind wheel, and wind wheel and transmission gear are consolidated integral by connecting rod, and wind wheel passes through change
Fast gear is connected with generator, is circumferentially evenly distributed with three support wheel assemblies at power generation part rear portion, is used to support fuselage；Pipeline machine
People's power generation part is mainly used for the kinetic energy of gas to be changed into electric energy, fills to airborne battery (energy of robot control)
Electricity.
Connect by telescopic integral outside power generation part and body part, telescopic, which is used to reduce gas, flows through machine
Resistance when device people, body part are equipped with battery and control circuit and three circumferentially uniformly distributed support wheel assemblies, pass through one
The fixed support rod in group center is integral with being looped around surrounding spring handle power generation part and connect with body part；Body part
Mainly play a part of to charge a battery and control pipe robot operation, while passing through three support wheel groups in power generation part
Three support wheel assemblies of part and body part support entire robot.
There are four connectors altogether for pipe robot ontology and targeting part, wherein three are electromagnet assembly, it is by electromagnetism
Iron, iron wire and spring composition, another is fixed support rod, which is that spherical linkage is connect with the connection on guiding head,
It is to be fixedly connected with robot body part, three electromagnet assemblies are evenly distributed in the plane perpendicular with fixed support rod
On；When robot needs to turn, wherein one group or two groups of electromagnet are separately energized, the gravitation that electromagnet generates pulls iron wire
To electromagnet internal motion, compressed spring causes to be oriented to head oscillation, so that pipe robot be made to enter fork pipelines.
Support wheel assembly is made of electromagnet, support wheel, braking components, supporting fuselage bar etc., brake connecting rod and brake
Element is bound up, and the control of the movement velocity of robot is real by the frictional force of control braking components and support wheel
It is existing, when electromagnet obtains it is electric when, the iron core in electromagnet moves downward, to depress brake connecting rod, increases support wheel and pipe
The frictional force of wall, reduces robot movement velocity, and when not needing speed regulation, electromagnet power loss, iron core passes through brake connection
Braking components pull-up is then restored rolling of the support wheel on tube wall by bar, and the movement velocity of robot incrementally increases.
The course of work of the invention: a kind of power self-support formula pipeline is interior to generate electricity from walking robot, including pipe robot
Partially, body part, targeting part are total to three parts.It is flexibly connected respectively by three groups of springs and electromagnet mechanism between three parts
Together, three groups of springs and electromagnet mechanism are distributed in pipeline section in the way of triangle equal part；Power generation part and sheet
Body portion respectively passes through circumferential uniformly three support wheel assemblies, is supported on inner wall of the pipe, thus constitutes the pipe of one six wheel support
From the device of walking in road；The overbending direction that perception pipeline is carried out by targeting part, connects machine with electromagnet by three groups of springs
The electromagnetic actuation of different location in structure is turned with disconnection；The front end of power generation part is equipped with fan rotor, and robot exists
Wind-force and fluid flow energy in traveling process in pipeline push fan blade rotation to generate electricity, and generate electricity and are stored in this
In the battery of body portion, for the power supply of power unit each in robot.
The working principle of the invention: a kind of power self-support formula pipeline is interior to generate electricity from walking robot, including pipe robot
Partially, body part, targeting part are total to three parts.Power generation part and body part respectively pass through circumferential uniformly three support wheel groups
Part is supported on inner wall of the pipe, and support wheel assembly can change automatic controlled height according to pipe diameter, and idler wheel therein is wheel hub
Walking of the robot in pipeline may be implemented in motor, adds spring mechanism to realize by three electromagnet of triangular arrangement
Steering in pipeline, by robot when walking in the pipeline air-flow variation or pipeline out-source gas mode into
Row wind-power electricity generation realizes automatically supplying for power supply with continued power.
Claims (5)
1. from walking robot in a kind of power self-support formula pipeline, it is characterised in that: including power generation part (1), body part
(2), department (3) three parts are oriented to；It is fixed support rod (2-1) by three groups of centers between power generation part (1) and body part (2)
The structure of additional spring connects, and outside is surrounded by telescopic (5)；Pass through fixed branch between body part (2) and guiding department (3)
The structure of strut (3-2) additional spring connects, and outside is surrounded by telescopic (5)；The respective axis and conduit axis of three parts are flat
Row, can be at an angle to be suitble to curved pipe between the axis of three parts to be suitble to straight pipeline；In power generation part (1) and this
The outside of body portion (2) is respectively installed there are three wheel assembly (4) are supported, and every three support wheel assemblies (4) are evenly arranged on same in triangle
In end face.
2. from walking robot in a kind of power self-support formula pipeline according to claim 1, it is characterised in that: power generation part
(1) it is made of wind wheel (1-1), transmission gear (1-2) and generator (1-3)；Wind wheel (1-1) is by transmission gear (1-2) and sends out
Motor (1-3) is co-axially mounted, and the axis and conduit axis of wind wheel (1-1) are coaxial.
3. from walking robot in a kind of power self-support formula pipeline according to claim 1, it is characterised in that: body part
(2) it is made of center fixed support rod (2-1), battery and control circuit (2-2), support wheel assembly (4) and telescopic (5)；
Three equally distributed support wheel assemblies (4) are assembled in body part (2) center assembled batteries and control circuit (2-2), outside,
Body part (2) is connect with power generation part (1) by the structure of fixed support rod (2-1) the additional spring in three groups of centers, interconnecting piece
Subpackage is with telescopic (5).
4. from walking robot in a kind of power self-support formula pipeline according to claim 1, it is characterised in that: targeting part
By electromagnet assembly (3-1), iron wire (3-2), guiding head (3-3), spring (3-4), fixed support rod (3-5) and telescopic
(5) it forms；Fixed support rod (3-5) is that spherical linkage is connect with the connection for being oriented to head (3-3), is with robot body part
It is fixedly connected, three electromagnet assemblies (3-1) are evenly distributed on the same plane perpendicular with fixed support rod (3-5).
5. from walking robot in a kind of power self-support formula pipeline according to claim 1, it is characterised in that: support wheel group
Part (4) by support wheel (4-1), brake connecting rod (4-2), electromagnet (4-3), braking components (4-4), support spring (4-5) and
Supporting fuselage bar (4-6) composition；Brake connecting rod (4-2) links together with braking components (4-4), brakes connecting rod (4-2)
Top links electromagnet (4-3), and the axle center both ends support wheel (4-1) respectively link a supporting fuselage bar (4-6) and additional support bullet
The structure of spring (4-5), two supporting fuselage bar (4-6) apical supports are on robot fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082772.7A CN109611642A (en) | 2019-01-29 | 2019-01-29 | An energy self-sufficient in-pipe self-propelled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910082772.7A CN109611642A (en) | 2019-01-29 | 2019-01-29 | An energy self-sufficient in-pipe self-propelled robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109611642A true CN109611642A (en) | 2019-04-12 |
Family
ID=66018538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910082772.7A Pending CN109611642A (en) | 2019-01-29 | 2019-01-29 | An energy self-sufficient in-pipe self-propelled robot |
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| CN (1) | CN109611642A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110131521A (en) * | 2019-05-28 | 2019-08-16 | 安徽延达智能科技有限公司 | A kind of flexible link can slide past top obstacle |
| CN110822214A (en) * | 2019-11-07 | 2020-02-21 | 中国石油天然气股份有限公司 | Pipeline detection device |
| CN110864189A (en) * | 2019-12-24 | 2020-03-06 | 北京城市排水集团有限责任公司 | Pipe robot |
| CN110985812A (en) * | 2019-12-28 | 2020-04-10 | 陕西泰诺特检测技术有限公司 | Pipeline deformation detection device and method |
| CN112024544A (en) * | 2020-08-18 | 2020-12-04 | 内蒙古民族大学 | Fluid drive formula oil pipeline clearance robot |
| CN112576862A (en) * | 2020-12-11 | 2021-03-30 | 中国石油大学(华东) | Brake speed regulating device for pipe cleaner of gas transmission pipeline |
| CN117450357A (en) * | 2023-12-25 | 2024-01-26 | 东北大学 | A speed-controllable self-generating pipeline in-line detection device |
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| CN204437575U (en) * | 2014-12-30 | 2015-07-01 | 朱桂林 | A kind of guide mechanism of Power Self-support In-pipe Robot |
| CN204512790U (en) * | 2014-12-30 | 2015-07-29 | 朱桂林 | A kind of Power Self-support In-pipe Robot supporting wheel assembly |
| CN105485470A (en) * | 2014-09-15 | 2016-04-13 | 姜军 | Oil pipeline inspection car |
| CN205877587U (en) * | 2016-06-28 | 2017-01-11 | 昆明理工大学 | Pipeline robot with gesture is from revising |
| CN107191739A (en) * | 2017-05-16 | 2017-09-22 | 哈尔滨工程大学 | A kind of reducing type pipeline detection robot that generates electricity of optimization |
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| CN105485470A (en) * | 2014-09-15 | 2016-04-13 | 姜军 | Oil pipeline inspection car |
| CN204437576U (en) * | 2014-12-30 | 2015-07-01 | 朱桂林 | A kind of Power Self-support In-pipe Robot |
| CN204437575U (en) * | 2014-12-30 | 2015-07-01 | 朱桂林 | A kind of guide mechanism of Power Self-support In-pipe Robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110131521A (en) * | 2019-05-28 | 2019-08-16 | 安徽延达智能科技有限公司 | A kind of flexible link can slide past top obstacle |
| CN110822214A (en) * | 2019-11-07 | 2020-02-21 | 中国石油天然气股份有限公司 | Pipeline detection device |
| CN110822214B (en) * | 2019-11-07 | 2021-07-30 | 中国石油天然气股份有限公司 | Pipeline detection device |
| CN110864189A (en) * | 2019-12-24 | 2020-03-06 | 北京城市排水集团有限责任公司 | Pipe robot |
| CN110985812A (en) * | 2019-12-28 | 2020-04-10 | 陕西泰诺特检测技术有限公司 | Pipeline deformation detection device and method |
| CN110985812B (en) * | 2019-12-28 | 2021-04-20 | 陕西泰诺特检测技术有限公司 | Pipeline deformation detection device and method |
| CN112024544A (en) * | 2020-08-18 | 2020-12-04 | 内蒙古民族大学 | Fluid drive formula oil pipeline clearance robot |
| CN112576862A (en) * | 2020-12-11 | 2021-03-30 | 中国石油大学(华东) | Brake speed regulating device for pipe cleaner of gas transmission pipeline |
| CN117450357A (en) * | 2023-12-25 | 2024-01-26 | 东北大学 | A speed-controllable self-generating pipeline in-line detection device |
| CN117450357B (en) * | 2023-12-25 | 2024-02-23 | 东北大学 | Speed-controllable self-generating pipeline inner detection device |
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