CN110107775A - A kind of pipe robot crosses the mechanical mechanism of butterfly valve - Google Patents
A kind of pipe robot crosses the mechanical mechanism of butterfly valve Download PDFInfo
- Publication number
- CN110107775A CN110107775A CN201910419904.0A CN201910419904A CN110107775A CN 110107775 A CN110107775 A CN 110107775A CN 201910419904 A CN201910419904 A CN 201910419904A CN 110107775 A CN110107775 A CN 110107775A
- Authority
- CN
- China
- Prior art keywords
- harmonic
- butterfly valve
- robot
- connecting rod
- slide unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Lift Valve (AREA)
- Manipulator (AREA)
Abstract
A kind of mechanical mechanism that pipe robot crosses butterfly valve is related to pipe detection comprising first connecting rod and the second connecting rod, first harmonic decelerator and second harmonic retarder, the bottom plate for fixing electronic slide unit and upper mounted plate, protection board, electronic slide unit and multipair universal wheel；First connecting rod is connected with preceding pipeline robot running gear；First connecting rod one end is to be connected with preceding pipeline robot running gear, and the other end is connect with first harmonic decelerator；Second connecting rod is connected with rear pipe robot walking mechanism, and the other end is connect with second harmonic retarder；Two harmonic speed reducers are connected with fixed plate above and below electronic slide unit respectively；Protection board is fixed on electronic slide unit bottom plate, and universal wheel is mounted on protection board two sides and lower section, was protected valve system and was provided support force with tube wall and butterfly valve when passing through butterfly valve.The working time of the effective draw pipeline robot of the present invention in the duct, prevent robot from occurring stuck phenomenon in the duct.
Description
Technical field
The present invention relates to pipe detection, it is related specifically to the mechanical mechanism that a kind of pipe robot crosses butterfly valve.
Background technique
Pipe detection and maintenance are a main contents of municipal administration work.But as pipeline is laid with the increase of quantity, and
The increase of service life, many problems also generate therewith.The defects of for example pipeline is due to slight crack, causes working efficiency to drop significantly
It is low.Existing repairing pipe means have excavation type or non-excavation type, existing in non-digging pipe detection was repaired
Technology generallys use manual work, or semi-automatic machine auxiliary, but still that there are operating paths is limited, working range is small,
Detection time is long, precision is low, meet special obstacle can not by the disadvantages of, need to expend a large amount of manpower and material resources.
Now, the pipe robot having already appeared, which can enter inside pipeline, executes detection work, substantially increases detection
The efficiency of repairing.Common pipe robot walking mechanism mostly uses crawler type or wheeled walking manner.Robot is put
Enter in pipeline, by preset program or manually-operated mode is monitored and patch work.
But still can not be successfully and pass through when encountering butterfly valve mechanism, follow-up work is continued to complete, can only be returned to, from
After another well head decentralization robot, restart work.
Summary of the invention
Problems solved by the invention is to provide one kind can be effectively by the mechanism of butterfly valve, and effective draw pipeline robot is in pipe
Working time in road, and prevent robot from occurring stuck phenomenon in the duct.
To solve the above problems, the present invention provides the connection mechanical mechanism that a kind of pipe robot crosses butterfly valve, comprising:
Two connecting rods, be connected part with two pipe robot running gear mechanism of front and back；
Two harmonic speed reducers and welding bars, welding bars are connected with connecting rod, harmonic speed reducer and slide unit fixed plate
It is connected；
Two slide unit fixed plates are respectively arranged in electronic slide unit two planes up and down；
Two fixed plates are fixed on two planes of electronic slide unit or more by electronic slide unit；
Protection board is fixed in lower slide unit fixed plate；
Three groups of universal wheels, are fixed on protection board；
Further, the connecting rod is that side is connected with pipe robot walking mechanism, and the other side is and harmonic wave speed limit
Device connection can on the connecting pin that vertical direction rotates, connecting pin size and harmonic speed reducer welding portion pore size
It is corresponding.
Further, the part being connected with connecting rod is welded on harmonic speed reducer shell, harmonic speed reducer type selecting is
BHS20, and be connected with slide unit fixed plate.
Further, slide unit upper mounted plate and bottom plate are separately fixed at electronic slide unit two planes up and down, are parallel to each other,
And guarantee the relative position of former and later two connecting rods in same axis.
Further, the electronic slide unit connects slide unit fixed plate.
Further, protection board is mounted on electronic slide unit bottom plate.
Further, three groups of universal wheels are mounted on protection board.
Compared with prior art, technical solution of the present invention has the advantage that
Pipe robot through the invention has autonomous adaptability as you pass the bend, and when encountering butterfly valve, tool
The standby ability passed through.
Detailed description of the invention
Fig. 1 is the perspective view that pipe robot crosses valve system in the embodiment of the present invention；
Fig. 2 is pipe robot running gear and valve portion structure diagram excessively in the embodiment of the present invention；
Specific embodiment
To make the above purposes, features and advantages of the invention more obvious and understandable, with reference to the accompanying drawing to the present invention
Specific embodiment be described in detail.
With reference to Fig. 1, the present embodiment provides a kind of pipe robots to cross butterfly valve mechanism, including first connecting rod 1 and second connects
Extension bar 9, first harmonic decelerator 2 and second harmonic retarder 8, bottom plate 3 and upper mounted plate for fixing electronic slide unit
7, protection board 4, electronic slide unit 5 and three pairs of universal wheels 6.
Wherein, first connecting rod 1 will cross valve system and be connected with preceding pipeline robot running gear.In the present embodiment,
Described connecting rod one end is to be connected with preceding pipeline robot walking mechanism, and the other end is to be connected with harmonic speed reducer welding portion
, it is responsible for the connecting pin rotated around vertical direction.Valve system is connected by the second connecting rod 9 with rear pipe robot walking mechanism
It connects.
First harmonic decelerator 2, including the welding portion on harmonic speed reducer shell, harmonic speed reducer shell weld part
Divide and is responsible for being connected with the connection pin part of preceding first connecting rod 1,2 floppy disk of first harmonic decelerator and electronic slide unit bottom plate
It is connected.
Second harmonic retarder 8, including the welding portion on harmonic speed reducer shell, harmonic speed reducer shell weld part
Divide and is responsible for being connected with the connection pin part of rear second connecting rod 9,8 floppy disk of second harmonic retarder and electronic slide unit upper mounted plate
It is connected.
Fixed plate 7 and bottom plate 3 are structural steel, and bottom plate 3 is connected with preceding 2 floppy disk of first harmonic decelerator
It connects, upper mounted plate 7 is connected with rear 8 floppy disk of second harmonic retarder, pays attention to the cooperation of two fixed plate height up and down, makes and the
The front and rear pipes robot running gear axis that one connecting rod 1 is connected with the second connecting rod 9 coincides.
In the present embodiment, the protection board 4 is fixed on electronic slide unit bottom plate 3, and size is greater than electronic slide unit
Required sectional area, and it is less than the radius of institute's service pipe.
Universal wheel 6 is mounted on protection board two sides and lower section, protected valve system and when passing through butterfly valve with tube wall and butterfly
Valve provides certain support force, and coupling part is assisted to pass through butterfly valve.
With reference to Fig. 2, a kind of pipe robot provided in this embodiment crosses valve system 12, with Qian Zou mechanism 11 and walk behind machine
Structure 13 is connected.
In the present embodiment, when pipe robot encounters butterfly valve, control pipe robot crosses the connection mechanical mechanism of butterfly valve
First harmonic decelerator in 12, preceding pipeline robot running gear is adjusted to can be by the pose of butterfly valve, and extends electric sliding
After preceding pipeline robot running gear is sent out butterfly valve by platform, control has moved out the first harmonic decelerator of butterfly valve, makes pipe again
Pipeline robot pre-walking mechanism coincides with integrated piping axis, then by control second harmonic retarder, makes rear pipeline machine
People's walking mechanism is adjusted to integrated piping robot motion can be made to go out with after-contraction electric sliding platform part by the pose of butterfly valve
After butterfly valve, second harmonic retarder after adjustment makes integrated piping robot axis and conduit axis coincide, and completes valve fortune
It is dynamic.
Pipe robot through this embodiment crosses the butterfly valve that valve system can effectively by being encountered in pipeline.
Although present disclosure is as above, present invention is not limited to this.Anyone skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (2)
1. the connection mechanical mechanism that a kind of pipe robot crosses butterfly valve, it is characterised in that: connected including first connecting rod and second
Bar, first harmonic decelerator and second harmonic retarder, bottom plate and upper mounted plate, protection for fixing electronic slide unit
Plate, electronic slide unit and multipair universal wheel；
First connecting rod is connected with preceding pipeline robot running gear；First connecting rod one end is and preceding pipeline robot ambulation
Mechanism is connected, and the other end is connect with first harmonic decelerator；Second connecting rod is connected with rear pipe robot walking mechanism,
The other end is connect with second harmonic retarder；
First harmonic decelerator, including the welding portion on harmonic speed reducer shell, harmonic speed reducer shell welding portion with
The connection pin part of first connecting rod is connected, and first harmonic decelerator floppy disk is connected with electronic slide unit bottom plate；
Second harmonic retarder, including the welding portion on harmonic speed reducer shell, harmonic speed reducer shell welding portion is negative
Duty is connected with the connection pin part of rear second connecting rod, and second harmonic retarder floppy disk is connected with electronic slide unit upper mounted plate
It connects；
Protection board is fixed on electronic slide unit bottom plate, and universal wheel is mounted on protection board two sides and lower section, protects valve system
And support force is provided with tube wall and butterfly valve when passing through butterfly valve.
2. crossing the connection mechanical mechanism of butterfly valve using a kind of pipe robot as described in claim 1, it is characterised in that:
When pipe robot encounters butterfly valve, control pipe robot crosses first harmonic in the connection mechanical mechanism of butterfly valve and slows down
Device, preceding pipeline robot running gear is adjusted to can be by the pose of butterfly valve, and extends electronic slide unit for front tube pipeline robot
After walking mechanism sends out butterfly valve, control has moved out the first harmonic decelerator of butterfly valve, makes vehicle with walking machine before pipe robot again
Structure coincides with integrated piping axis, then by control second harmonic retarder, is adjusted to rear pipe robot walking mechanism
It can be by the pose of butterfly valve, with after-contraction electric sliding platform part, after so that integrated piping robot motion is gone out butterfly valve, second after adjustment
Harmonic speed reducer makes integrated piping robot axis and conduit axis coincide, and completes valve movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910419904.0A CN110107775B (en) | 2019-05-20 | 2019-05-20 | Mechanical mechanism for pipeline robot to pass through butterfly valve |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910419904.0A CN110107775B (en) | 2019-05-20 | 2019-05-20 | Mechanical mechanism for pipeline robot to pass through butterfly valve |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110107775A true CN110107775A (en) | 2019-08-09 |
| CN110107775B CN110107775B (en) | 2020-10-27 |
Family
ID=67491123
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910419904.0A Active CN110107775B (en) | 2019-05-20 | 2019-05-20 | Mechanical mechanism for pipeline robot to pass through butterfly valve |
Country Status (1)
| Country | Link |
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| CN (1) | CN110107775B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06121972A (en) * | 1992-10-12 | 1994-05-06 | Chubu Electric Power Co Inc | Traveling device of robot for pipe |
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN201756146U (en) * | 2010-07-02 | 2011-03-09 | 华南理工大学 | Modularized bionic wall-climbing robot |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| KR101649319B1 (en) * | 2015-11-18 | 2016-08-19 | 한국가스공사 | Sensing module of pipe inspection robot |
| CN107084297A (en) * | 2017-06-23 | 2017-08-22 | 江苏科技大学 | A kind of flexible self-driven helical pipe robot |
-
2019
- 2019-05-20 CN CN201910419904.0A patent/CN110107775B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06121972A (en) * | 1992-10-12 | 1994-05-06 | Chubu Electric Power Co Inc | Traveling device of robot for pipe |
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN201756146U (en) * | 2010-07-02 | 2011-03-09 | 华南理工大学 | Modularized bionic wall-climbing robot |
| CN104989914A (en) * | 2015-07-07 | 2015-10-21 | 北京工业大学 | High-adaptability multifunctional pipeline robot |
| KR101649319B1 (en) * | 2015-11-18 | 2016-08-19 | 한국가스공사 | Sensing module of pipe inspection robot |
| CN107084297A (en) * | 2017-06-23 | 2017-08-22 | 江苏科技大学 | A kind of flexible self-driven helical pipe robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110107775B (en) | 2020-10-27 |
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