CN110118290A - Pipeline climbing robot - Google Patents
Pipeline climbing robot Download PDFInfo
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- CN110118290A CN110118290A CN201910550747.7A CN201910550747A CN110118290A CN 110118290 A CN110118290 A CN 110118290A CN 201910550747 A CN201910550747 A CN 201910550747A CN 110118290 A CN110118290 A CN 110118290A
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- obstacle detouring
- pipeline
- cabinet
- climbing
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- 230000009194 climbing Effects 0.000 title claims abstract description 79
- 230000007246 mechanism Effects 0.000 claims abstract description 127
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 238000012360 testing method Methods 0.000 claims abstract description 25
- 230000004888 barrier function Effects 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 28
- 230000001105 regulatory effect Effects 0.000 claims description 20
- 230000000694 effects Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000009193 crawling Effects 0.000 description 4
- 230000007547 defect Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 230000018109 developmental process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000219098 Parthenocissus Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 239000010865 sewage Substances 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
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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
- F16L55/40—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
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of pipeline climbing robots, including cabinet, control mechanism, testing agency, fixed column, multiple obstacle detouring climbing mechanisms, shrinking connecting-rod device, two detection fixing support racks, testing agency is mounted on the front end of cabinet, two detection fixing support racks are separately mounted to the two sides of cabinet, control mechanism is mounted in cabinet, fixed column is mounted on the rear end of cabinet, multiple obstacle detouring climbing mechanisms are telescopically connected to by shrinking connecting-rod device with fixed column, and the testing agency, obstacle detouring climbing mechanism, detection fixing support rack are electrically connected with control mechanism respectively.The pipeline climbing robot adapts to duct size variation, can get in piping that the barrier, the obstacle climbing ability that occur are strong, avoids being hindered in pipe walking by barrier.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of pipeline climbing robots.
Background technique
With economy and society build development, robot technology obtained in all trades and professions it is extensive development and
Using research and application level have become and measure national science and technology development level (especially industrial automation, intelligent level)
One of the important signs that.In panoramic robot, pipeline climbing robot is more special one kind.Since China is existing
A large amount of pipelines, such as gas piping, sewage conduct, air-conditioning duct are used in foundry agricultural and national defence, these pipelines
It runs well and is of great significance to the normal operation of the daily life and city that maintain broad masses of the people.But due to pipeline
The particularity of structure is difficult to detect or repair after there is pipeline aging or damage phenomenon；Some important pipelines, such as gas pipe
Road, once great security risk will be caused by crack occur.Therefore, seem the research of pipeline climbing robot to Guan Chong
It wants.
Currently, although existing pipeline climbing robot can preferably realize a variety of function such as flaw detection, the detection in pipeline
Can, but since existing pipeline internal environment is severe, once when occurring barrier in pipeline, existing pipeline crawling machine
People will be easy to be hindered, and so as to cause that can not continue to move ahead, and then cause robot that can not continue in pipeline
Further part is detected, to greatly affected its using effect.
Summary of the invention
The purpose of the present invention is to provide a kind of pipeline climbing robot, which adapts to duct size
Variation, can get in piping that the barrier, the obstacle climbing ability that occur are strong, avoid being hindered in pipe walking by barrier.
Its technical solution is as follows:
Pipeline climbing robot, including cabinet, control mechanism, testing agency, fixed column, multiple obstacle detouring climbing mechanisms, stretch
Contracting linkage, two detection fixing support racks, testing agency are mounted on the front end of cabinet, two detection fixing support rack difference
The two sides of cabinet are mounted on, control mechanism is mounted in cabinet, and fixed column is mounted on the rear end of cabinet, multiple obstacle detouring climbing mechanisms
It is telescopically connected to by shrinking connecting-rod device with fixed column, the testing agency, obstacle detouring climbing mechanism, detection fixing support rack difference
It is electrically connected with control mechanism.
The shrinking connecting-rod device includes movable block, multiple first connecting rods, and the fixed column includes screw-driven section, described
Screw-driven section has transmission external screw thread, and the movable block has transmission internal screw thread, and the movable block is set in the screw thread and passes
In dynamic section, and the transmission internal screw thread matches with the transmission external screw thread and is threadedly coupled；One end of each first connecting rod
Hinged with the periphery of the movable block respectively, the other end of each first connecting rod is cut with scissors with each obstacle detouring climbing mechanism respectively
It connects.
The shrinking connecting-rod device further includes the first locating piece, the second locating piece, multiple second connecting rods, multiple thirds company
Bar, the fixed column further include positioning section, and first locating piece, the second locating piece are respectively sleeved at the positioning of the fixed column
Duan Shang, and being slidably connected with it, each second connecting rod, third connecting rod one end respectively with first locating piece, second fixed
The periphery of position block is hinged, and each second connecting rod, the other end of third connecting rod are hinged with each obstacle detouring climbing mechanism respectively.
The obstacle detouring climbing mechanism includes multiple obstacle detouring mobile mechanisms, fixed strip, and two opposite sides of the fixed strip include
First side, second side, the first connecting rod, second connecting rod, the other end of third connecting rod are hinged with first side respectively, multiple
The obstacle detouring mobile mechanism is separately mounted in described second side.
The obstacle detouring mobile mechanism includes obstacle detouring movable pulley, driving motor of creeping, rotation axis, the driving motor peace of creeping
On the fixed strip, the driving motor of creeping is drivingly connected by the rotation axis and the obstacle detouring movable pulley.
The obstacle detouring movable pulley, rotation axis are respectively two, and the driving motor of creeping is described with active angular wheel
Rotation axis has driven angular wheel, and one end of each rotation axis is connect with each obstacle detouring movable pulley respectively, and each described turn
The other end of moving axis is matched by the driven angular wheel with the active angular wheel respectively engages connection.
The obstacle detouring movable pulley includes wheel carrier, telescopic support device, and the telescopic support device is mounted on the wheel
In frame, the wheel carrier includes wheel rim, and the wheel rim is equipped with multiple support through holes, and the telescopic support device includes adjusting machine
Structure, multiple support arms, the regulating mechanism drive each support arm flexible across each support through holes.
The testing agency includes headlamp, camera, ultrasonic sensor, and the headlamp, camera, ultrasonic wave pass
Sensor is separately mounted to the front end of the cabinet, the headlamp, camera, ultrasonic sensor respectively with the control mechanism
It is electrically connected.
The control mechanism includes battery, controller, wireless signal transceiver, the battery, controller, wireless communication
Number transceiver is separately mounted in the cabinet, and the battery and the controller are electrically connected, and the controller passes through institute
It is electric with the testing agency, telescopic drive motor, obstacle detouring climbing mechanism, detection fixing support rack respectively to state wireless signal transceiver
Property connection.
The detection fixing support rack includes supporing shell, support plate, support driving mechanism, the support driving mechanism peace
In the supporing shell, the support driving mechanism includes two lever arms, and the support driving mechanism passes through two institutes
Lever arm is stated to connect with the support plate movable supporting.
It should be understood that
Aforementioned " first, second ... " does not represent specific quantity and sequence, is only used for the differentiation to title.
In the description of the present invention, it is to be understood that, the orientation or positional relationship difference of the instructions such as term "front", "rear"
It is used to should be " advance " when product of the present invention uses, the orientation or positional relationship of " retrogressing " or those skilled in the art relatively
The orientation or positional relationship understood, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Equipment or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the present invention
Limitation.
Advantages of the present invention or principle are illustrated below:
1, this pipeline climbing robot include cabinet, it is control mechanism, testing agency, telescopic drive motor, fixed column, multiple
Obstacle detouring climbing mechanism, shrinking connecting-rod device, two detection fixing support racks, in use, being stretched according to the size of pipe diameter to be checked
Contracting adjustment shrinking connecting-rod device, realizes that multiple obstacle detouring climbing mechanisms are flexible relative to fixed column, keeps the pipeline climbing robot suitable
Duct size is answered to change, this pipeline crawling machine is creeped in the duct when advancing, such as barrier, this pipeline climbing robot energy
It is cleared the jumps by obstacle detouring climbing mechanism, when need to detect to certain in pipeline, the fixed support of two detections can be passed through
Frame is supported and fixed in inner wall of the pipe, is then detected again by testing agency to pipeline；
The pipeline climbing robot can adapt to duct size variation automatically, can get over barrier, the obstacle detouring occurred in piping
Ability is strong, avoids being hindered in pipe walking by barrier.
2, shrinking connecting-rod device includes movable block, multiple first connecting rods, in use, by rotating movable block manually, activity
Block makes obstacle detouring climbing mechanism is flexible to contact and be fixed in pipeline with inner wall of the pipe, makes under the action of being driven external screw thread
The pipeline climbing robot adapts to duct size variation.
3, shrinking connecting-rod device further includes the first locating piece, the second locating piece, multiple second connecting rods, multiple third connecting rods,
First locating piece, the second locating piece, second connecting rod, third connecting rod and movable block cooperate, and keep multiple obstacle detouring climbing mechanisms past fixed
The radial direction of column stretch it is more convenient, improve adapt to duct size variation ability.
4, obstacle detouring climbing mechanism includes multiple obstacle detouring mobile mechanisms, fixed strip, and multiple obstacle detouring mobile mechanisms pass through fixed strip
It links together, keeps creeping for each obstacle detouring climbing mechanism more stable.
5, obstacle detouring mobile mechanism includes that obstacle detouring movable pulley, driving motor of creeping, rotation axis first start when need to creep mobile
It creeps driving motor, driving motor of creeping drives the rotation of obstacle detouring movable pulley by rotation axis, to realize that obstacle detouring movable pulley rolls
Advance.
6, obstacle detouring movable pulley, rotation axis are respectively two, and each obstacle detouring mobile mechanism is got over by two obstacle detouring movable pulleys, raising
Hinder mobile mechanism and rolls the ability of creeping advanced.
7, obstacle detouring movable pulley includes wheel carrier, telescopic support device, and wheel carrier includes wheel rim, and telescopic support device includes adjusting
Mechanism, multiple support arms are saved, in order to enable it can play the effect for changing wheel carrier shape, so that it can cross pipe
Barrier in road is equipped with multiple support through holes, in use, adjusting each support arm by regulating mechanism on the wheel rim of wheel carrier
It stretches across each support through holes；In use, when occur in pipeline barrier prevent wheel carrier from by when, at this point, can lead to
It crosses and the support through holes of support arm stretching wheel carrier is adjusted by regulating mechanism and extend to its outside, while making support arm most
Outer end is contacted with inner wall of the pipe, so that the barrier in piping can be got over；The obstacle detouring movable pulley can assist pipeline crawling machine
People clears the jumps, and obstacle climbing ability is strong, while can also the even running in flat pipeline.
8, testing agency includes headlamp, camera, ultrasonic sensor, and headlamp is this pipeline climbing robot in pipe
Illumination light is provided in road, the defect information of defective locations in pipeline is obtained by ultrasonic sensor and camera cooperation, and
The defect information that will test feeds back to control mechanism, improves detection efficiency.
9, control mechanism includes battery, controller, wireless signal transceiver, and battery provides kinetic force for control mechanism
Source, controller control testing agency, telescopic drive motor, obstacle detouring climbing mechanism, the fixed branch of detection by wireless signal transceiver
The operation of support.
10, detection fixing support rack includes supporing shell, support plate, support driving mechanism, and support driving mechanism passes through two
A lever arm is connect with support plate movable supporting, in use, support driving mechanism adjusts support by pushing two lever arms
The distance between plate and supporing shell, to realize the support of support plate；The detection fixing support rack can assist pipeline creeper
Device people in flaw detection, detection with the fixed support of pipeline inner tubal wall so that pipeline climbing robot can to pipeline inside into
The accurate flaw detection of row, detection, and then effectively improve its detection effect.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of pipeline climbing robot of the embodiment of the present invention.
Fig. 2 is the structural schematic diagram of obstacle detouring climbing mechanism of the embodiment of the present invention.
Fig. 3 is the structural schematic diagram of obstacle detouring of embodiment of the present invention mobile mechanism.
Fig. 4 is the structural schematic diagram of obstacle detouring movable pulley of the embodiment of the present invention.
Fig. 5 is the structural schematic diagram of regulating mechanism of the embodiment of the present invention.
Fig. 6 is the structural schematic diagram of detection fixing support rack of the embodiment of the present invention.
Description of symbols:
10, cabinet, 20, control mechanism, 31, headlamp, 32, camera, 40, fixed column, 41, screw-driven section, 42, fixed
Position section, 50, obstacle detouring climbing mechanism, 51, obstacle detouring mobile mechanism, 511, driving motor of creeping, 5111, active angular wheel, 512,
Rotation axis, 5121, driven angular wheel, 52, fixed strip, 53, obstacle detouring movable pulley, 531, wheel carrier, 5311, wheel rim, 5311a,
Support through holes, 5312, tire, 5313, wheel hub, 5314, spoke, 5314a, first through hole, 532, telescopic support device, 5321,
5321b, regulating mechanism, 5321a, adjustment housings adjust screw rod, 5321c, adjust driving motor, 5321d, first adjust bearing,
5321e, the second adjusting bearing, 5321f, roller, 5321g, adjusting transmission ring, 5321h, adjusting loose collar, 5322, support arm,
5322a, the second through-hole, 5323, supporting support, 5324, toothed disc, 5325, chain, 60, shrinking connecting-rod device, 61, movable block,
62, the first locating piece, the 63, second locating piece, 64, first connecting rod, 65, second connecting rod, 66, third connecting rod, 70, the fixed branch of detection
Support, 71, supporing shell, the 711, first support side plate, the 7111, first movable through-hole, the 7112, second movable through-hole, 712, the
Two support side plates, the 7121, first support end plate, the 7122, second support end plate, 72, support plate, 73, support driving mechanism, 731,
Lever arm, 732, drive rod, the 7321, second angular wheel, the 733, first drive bearing, 734, second transmission bearing, 735, branch
Support driving motor, the 7351, first angular wheel, the 736, first sliding block, the 737, second sliding block.
Specific embodiment
The embodiment of the present invention is described in detail below.
As shown in Figure 1, pipeline climbing robot, including it is cabinet 10, control mechanism 20, testing agency, fixed column 40, multiple
60, two obstacle detouring climbing mechanism 50, shrinking connecting-rod device detection fixing support racks 70, before testing agency is mounted on cabinet 10
End, two detection fixing support racks 70 are separately mounted to the two sides of cabinet 10, and control mechanism 20 is mounted in cabinet 10, fixed column
40 are mounted on the rear end of cabinet 10, and multiple obstacle detouring climbing mechanisms 50 are telescopically connected to by shrinking connecting-rod device 60 with fixed column 40,
The testing agency, obstacle detouring climbing mechanism 50, detection fixing support rack 70 are electrically connected with control mechanism 20 respectively.In use,
According to the size of pipe diameter to be checked, stretch adjustment shrinking connecting-rod device 60, realizes multiple obstacle detouring climbing mechanisms 50 relative to solid
Fixed column 40 is flexible, and the pipeline climbing robot is made to adapt to duct size variation, this pipeline crawling machine is creeped advance in the duct
When, such as barrier, this pipeline climbing robot can be cleared the jumps by obstacle detouring climbing mechanism 50, need to be to certain in pipeline
When being detected, it can be supported and fixed in inner wall of the pipe by two detection fixing support racks 70, then pass through testing agency again
Pipeline is detected；The pipeline climbing robot can adapt to duct size variation automatically, can get over the obstacle occurred in piping
Object, obstacle climbing ability are strong, avoid being hindered in pipe walking by barrier.
Wherein, shrinking connecting-rod device 60 includes movable block 61, multiple first connecting rods 64, the positioning of the first locating piece 62, second
Block 63, multiple second connecting rods 65, multiple third connecting rods 66, fixed column 40 include screw-driven section 41, positioning section 42, screw-driven
Section 41 has transmission external screw thread, and movable block 61 has transmission internal screw thread, and movable block 61 is set in screw-driven section 41, and is passed
Dynamic internal screw thread matches with transmission external screw thread to be threadedly coupled；One end of each first connecting rod 64 and the periphery of movable block 61 are hinged, respectively
The other end of first connecting rod 64 is hinged with each obstacle detouring climbing mechanism 50 respectively；First locating piece 62, the second locating piece 63 cover respectively
Be located on the positioning section 42 of fixed column 40, and be slidably connected with it, each second connecting rod 65, third connecting rod 66 one end respectively with
A positioning block 62, the periphery of the second locating piece 63 are hinged, each second connecting rod 65, third connecting rod 66 the other end respectively with each obstacle detouring
Climbing mechanism 50 is hinged.In use, by rotating movable block 61 manually, movable block 61 makes to get under the action of being driven external screw thread
Barrier climbing mechanism 50 is flexible to be contacted with inner wall of the pipe and is fixed in pipeline, so that the pipeline climbing robot is adapted to pipeline big
Small variation.First locating piece 62, the second locating piece 63, second connecting rod 65, third connecting rod 66 and movable block 61 cooperate, and make multiple get over
Barrier climbing mechanism 50 toward fixed column 40 radial direction stretch it is more convenient, improve adapt to duct size variation ability.
Testing agency includes headlamp 31, camera 32, ultrasonic sensor, and headlamp 31, camera 32, ultrasonic wave pass
Sensor is separately mounted to the front end of cabinet 10, and headlamp 31, camera 32, ultrasonic sensor are electrical with control mechanism 20 respectively
Connection.Headlamp 31 is that this pipeline climbing robot provides illumination light in pipeline, passes through ultrasonic sensor and camera
32 cooperations obtain the defect information of defective locations in pipeline, and the defect information that will test feeds back to control mechanism 20, improve
Detection efficiency.
Control mechanism 20 includes battery, controller, wireless signal transceiver, battery, controller, wireless signal transmitting-receiving
Device is separately mounted in cabinet 10, and battery and controller are electrically connected, controller by wireless signal transceiver respectively with inspection
Mechanism, telescopic drive motor, obstacle detouring climbing mechanism 50, detection fixing support rack 70 is surveyed to be electrically connected.Battery is control mechanism
20 provide power source, and controller controls testing agency, telescopic drive motor, obstacle detouring climbing mechanism by wireless signal transceiver
50, the operation of fixing support rack 70 is detected.
As shown in Fig. 2, obstacle detouring climbing mechanism 50 include multiple obstacle detouring mobile mechanisms 51, fixed strip 52, the two of fixed strip 52
Opposite side include the first side, second side, first connecting rod 64, second connecting rod 65, third connecting rod 66 the other end respectively with the first side
Hingedly, multiple obstacle detouring mobile mechanisms 51 are separately mounted in second side.Multiple obstacle detouring mobile mechanisms 51 are connected by fixed strip 52
Together, make creeping for each obstacle detouring climbing mechanism 50 more stable.
As shown in figure 3, obstacle detouring mobile mechanism 51 includes two obstacle detouring movable pulleys 53, driving motor 511, two rotations of creeping
Axis 512, driving motor 511 of creeping are mounted on fixed strip 52, and driving motor 511 of creeping has active angular wheel 5111, are turned
Moving axis 512 has driven angular wheel 5121, and one end of each rotation axis 512 is connect with each obstacle detouring movable pulley 53 respectively, each to rotate
The other end of axis 512 is matched by driven angular wheel 5121 with active angular wheel 5111 respectively engages connection.It need to creep
When mobile, first start driving motor 511 of creeping, driving motor 511 of creeping drives obstacle detouring movable pulley 53 to revolve by rotation axis 512
Turn, advances to realize that obstacle detouring movable pulley 53 rolls.
As shown in figure 4, obstacle detouring movable pulley 53 includes wheel carrier 531, telescopic support device 532, telescopic support device 532 is pacified
In wheel carrier 531, wheel carrier 531 includes wheel rim 5311, and wheel rim 5311 is equipped with multiple support through holes 5311a, branch of stretching
Support arrangement 532 includes regulating mechanism 5321, multiple support arms 5322, regulating mechanism 5321 drive each support arm 5322 flexible across
Each support through holes 5311a.In order to enable obstacle detouring movable pulley 53 can play the effect for changing 531 shape of wheel carrier, so that
It can get over the barrier in piping, and multiple support through holes 5311a are equipped on the wheel rim 5311 of wheel carrier 531, in use,
Each support arm 5322 is adjusted by regulating mechanism 5321 to stretch across each support through holes 5311a, is made when occurring barrier in pipeline
Wheel carrier 531 cannot by when, at this point, can by by regulating mechanism 5321 adjust support arm 5322 stretch out wheel carrier
531 support through holes 5311a simultaneously extends to its outside, while the outermost end of support arm 5322 is contacted with inner wall of the pipe, from
And the barrier in piping can be got over；The obstacle detouring movable pulley 53 can assist pipeline climbing robot to clear the jumps, obstacle detouring energy
Power is strong, while can also the even running in flat pipeline.
Wherein, wheel carrier 531 further includes tire 5312, wheel hub 5313, multiple spokes 5314, and tire 5312 is set in wheel rim
On 5311 outer surface, support through holes 5311a penetrates through wheel rim 5311, tire 5312；The both ends of multiple spokes 5314 respectively with
Wheel hub 5313, wheel rim 5311 connect, and wheel hub 5313 is located on the rotation central axis line of wheel rim 5311, and each support through holes 5311a is located at
On wheel rim 5311 between two adjacent spokes 5314.Tire 5312, tire 5312 are added on the outer surface of wheel rim 5311
Wheel rim 5311 can be protected.
Telescopic support device 532 further includes multiple supporting supports 5323, multiple toothed discs 5324, chain 5325, support branch
Frame 5323, the quantity of toothed disc 5324 are corresponding with the quantity of support arm 5322, and one end of each supporting support 5323 is respectively with two
Wheel hub 5313 between adjacent spokes 5314 connects, and each support arm 5322 passes through each toothed disc 5324 and each supporting support 5323
Other end rotation connection, the both ends of regulating mechanism 5321 are flexibly connected with the both ends of chain 5325 respectively, and chain 5325 is wrapped in
Each 5322 rotary extension of support arm is driven to pass through each support through holes 5311a on each toothed disc 5324.In use, passing through regulating mechanism
5321 adjust chain 5325, and chain 5325 drives toothed disc 5324, and toothed disc 5324 drives support arm 5322 with supporting support
The support through holes 5311a of wheel carrier 531 is stretched out centered on 5323 outer end and extends to its outside.
Another embodiment, multiple spokes 5314 are respectively equipped with first through hole 5314a, and multiple support arms 5322 are respectively equipped with
Second through-hole 5322a, chain 5325 sequentially passes through each first through hole 5314a, the second through-hole 5322a, and is wrapped in each toothed disc
Drive each 5322 rotary extension of support arm to pass through each support through holes 5311a on 5324, regulating mechanism 5321 be mounted on any one the
On one through-hole 5314a.Chain 5325 sequentially passes through first through hole 5314a, the second through-hole 5322a, and chain 5325 is facilitated to be wrapped in
Support arm 5322 is driven to rotate on toothed disc 5324.
As shown in figure 5, regulating mechanism 5321 includes adjustment housings 5321a, adjusts screw rod 5321b, adjusts driving motor
5321c, the both ends of adjustment housings 5321a are respectively equipped with the first adjusting through-hole, the second adjusting through-hole, and driving motor adjusts screw rod
5321b is separately mounted in adjustment housings 5321a, and the both ends for adjusting screw rod 5321b are each passed through the first adjusting through-hole, the second tune
Section through-hole is slidably connected with adjustment housings 5321a, and driving motor and adjusting screw rod 5321b are drivingly connected, and regulating mechanism 5321 is logical
The both ends for overregulating screw rod 5321b drive each support arm 5322 flexible across each support through holes 5311a.In use, passing through adjusting
Forward or reverse, driving adjusts screw rod 5321b and is moved forward or rearward relative to adjustment housings 5321a driving motor 5321c,
To be moved forward or rearward with chain 5325, and then chain 5325 drives support arm 5322 forward or reverse, makes support arm
The support through holes 5311a of 5322 stretching wheel carriers 531 is contacted with inner wall of the pipe, or is shunk in retraction wheel carrier 531.
Another embodiment, regulating mechanism 5321 further include the first adjusting bearing 5321d, second adjust bearing 5321e, and the
One adjusts bearing 5321d, the second adjusting bearing 5321e is separately mounted to the first adjusting through-hole, second is adjusted in through-hole, adjusts silk
The both ends of bar 5321b are each passed through the both ends of the first adjusting bearing 5321d, the second adjusting bearing 5321e and adjustment housings 5321a
It is slidably connected.First adjusts the setting of bearing 5321d, the second adjusting bearing 5321e, makes to adjust screw rod 5321b in the first adjusting
The movement that through-hole, second are adjusted on through-hole is more smoothly.
Another embodiment, the regulating mechanism 5321 further include roller 5321f, and roller 5321f has driving chamber, driving
Have on the internal chamber wall of chamber and adjust internal screw thread, adjusting on the outer surface of screw rod 5321b has adjusting external screw thread, and roller 5321f is logical
Chamber of overdriving, which is set in, to be adjusted on screw rod 5321b, and is adjusted internal screw thread and matched and is threadedly coupled with external screw thread is adjusted, adjusting drive
Dynamic motor 5321c and roller 5321f is drivingly connected.In use, passing through the rolling of driving forward or reverse for adjusting driving motor 5321c
Forward or reverse, roller 5321f passes through outside the adjusting for adjusting internal screw thread and adjusting screw rod 5321b in driving chamber column 5321f
Screw thread matches, and adjusting screw rod 5321b is pushed to be moved forward or rearward relative to adjustment housings 5321a.
Another embodiment, adjustment housings 5321a are in cylinder type, and adjustment housings 5321a includes cylinder, first end plate, the
Two end plates, first adjusts through-hole, the second adjusting through-hole is respectively provided at first end plate, on the second end plate, and regulating mechanism 5321 also wraps
It includes and adjusts transmission ring 5321g, the medial surface rotational slide for adjusting the lateral surface and cylinder of transmission ring 5321g connects, and adjusts transmission
Around transmission teeth are equipped on the medial surface of ring 5321g, screw rod 5321b is adjusted across transmission ring 5321g is adjusted, adjusts driving electricity
Machine 5321c is mounted on the medial surface of the second end plate, and adjusting driving motor 5321c has adjustment gear, one end of roller 5321f
Around the first teeth are equipped on lateral surface, adjustment gear, the first teeth match with transmission teeth respectively engages connection.It adjusts and drives
Dynamic motor 5321c drives roller 5321f forward or reverse by adjusting transmission ring 5321g, makes the rotation of roller 5321f more
Stablize.
Another embodiment, regulating mechanism 5321 further include adjusting loose collar 5321h, adjust screw rod 5321b and pass through adjusting
The other end of loose collar 5321h, roller 5321f are connected by adjusting loose collar 5321h and first end plate rotation.Roller 5321f
The other end by the adjusting loose collar 5321h and the first end plate rotation connect, keep the rotation of roller 5321f more suitable
Freely.
As shown in fig. 6, detection fixing support rack 70 includes supporing shell 71, support plate 72, support driving mechanism 73, support
Driving mechanism 73 is mounted in supporing shell 71, and support driving mechanism 73 includes two lever arms 731, and support driving mechanism 73 is logical
Two lever arms 731 are crossed to connect with 72 movable supporting of support plate.In use, support driving mechanism 73 is by pushing two lever arms
731 adjust the distance between support plate 72 and supporing shell 71, to realize the support of support plate 72；The fixed support of the detection
Frame 70 can assist pipeline climbing robot in flaw detection, detection and the fixed support of pipeline inner tubal wall, so that pipeline creeper
Device people can accurately detect a flaw to pipeline inside, be detected, and then effectively improve its detection effect.
Wherein, support driving mechanism 73 further includes drive rod 732, one end of two lever arms 731 respectively with drive rod 732
It is slidably connected, and its glide direction is on the contrary, the other end difference support plate 72 of two lever arms 731 is hinged.Two lever arms
731 slide along drive rod 732 toward two opposite directions, to make the distance between drive rod 732 and support plate 72 that can stretch
Contracting, and then the distance between support plate 72 and supporing shell 71 are adjusted, realize the support of support plate 72.
The two sides of supporing shell 71 include the first support side plate 711, the second support side plate 712, in the first support side plate 711
It is equipped with the first movable through-hole 7112 of movable through-hole 7111, second, the other end of two lever arms 731 is each passed through the first activity
Through-hole 7111, the second movable through-hole 7112 and support plate 72 are hinged.The support of two lever arms 731 and support plate 72 is facilitated to connect
It connects.
The both ends of supporing shell 71 include that the first support end plate 7121, second supports end plate 7122, the both ends of drive rod 732
It supports the medial surface of end plate 7122 to rotate with the first support end plate 7121, second respectively to connect.The rotation for improving drive rod 732 is steady
It is qualitative.
Another embodiment, support driving mechanism 73 further include the first drive bearing 733, second transmission bearing 734, transmission
The both ends of bar 732 pass through the first drive bearing 733, second transmission bearing 734 and the first support end plate 7121, second respectively and support
The medial surface of end plate 7122 rotates connection.Keep the rotation of drive rod 732 more stable, smooth.
Support driving mechanism 73 further includes support driving motor 735, and support driving motor 735 is mounted on the second support side plate
On 712 medial surface, support driving motor 735 and drive rod 732 are drivingly connected.The setting of driving motor 735 is supported, for support
Driving mechanism 73 provides support power.
Another embodiment, support driving motor 735 have the first angular wheel 7351, and drive rod 732 includes the second cone
Shape gear 7321, the first angular wheel 7351 is matched with 7321 phase region of the second angular wheel engages connection.First angular wheel 7351
Cooperation with the second angular wheel 7321 makes to be mounted on supporing shell 71 for changing the direction of rotation of support driving motor 735
The structure of interior support driving mechanism 73 is more compact.
Another embodiment, support driving mechanism 73 further include the first sliding block 736, the second sliding block 737, two lever arms
731 are slidably connected by the first sliding block 736, the second sliding block 737 with drive rod 732 respectively, the first sliding block 736, the second sliding block 737
Glide direction it is opposite.Two lever arms 731 are connected by the first sliding block 736, the second sliding block 737 and the sliding of drive rod 732 respectively
It connects, keeps sliding of two lever arms 731 on drive rod 732 more stable.
Another embodiment, the first sliding block 736, the second sliding block 737 are respectively the first nut, the second nut, drive rod 732
Outer surface be equipped with first transmission external screw thread, second transmission external screw thread, first transmission external screw thread with second be driven it is externally threaded
On the contrary, the first nut, the second nut match with the first transmission external screw thread, the second transmission external screw thread respectively, screw thread connects for direction of rotation
It connects.Keep the sliding of the first sliding block 736, the second sliding block 737 on drive rod 732 accurate, two lever arms 731 are to support plate 72
Support more firm, safety.
The above is only specific embodiments of the present invention, are not limited the scope of protection of the present invention with this；Do not violating this hair
Made any replacement and improvement, category protection scope of the present invention on the basis of bright design.
Claims (10)
1. pipeline climbing robot, which is characterized in that climbed including cabinet, control mechanism, testing agency, fixed column, multiple obstacle detourings
Row mechanism, shrinking connecting-rod device, two detection fixing support racks, testing agency are mounted on the front end of cabinet, and two detections are fixed
Support frame is separately mounted to the two sides of cabinet, and control mechanism is mounted in cabinet, and fixed column is mounted on the rear end of cabinet, Duo Geyue
Barrier climbing mechanism is telescopically connected to by shrinking connecting-rod device with fixed column, and the testing agency, obstacle detouring climbing mechanism, detection are fixed
Support frame is electrically connected with control mechanism respectively.
2. pipeline climbing robot as described in claim 1, which is characterized in that the shrinking connecting-rod device include movable block,
Multiple first connecting rods, the fixed column include screw-driven section, and the screw-driven section has transmission external screw thread, the movable block
With transmission internal screw thread, the movable block is set in the screw-driven section, and the transmission internal screw thread and the transmission
External screw thread matches threaded connection；One end of each first connecting rod is hinged with the periphery of the movable block respectively, and each described
The other end of one connecting rod is hinged with each obstacle detouring climbing mechanism respectively.
3. pipeline climbing robot as claimed in claim 2, which is characterized in that the shrinking connecting-rod device further includes first fixed
Position block, the second locating piece, multiple second connecting rods, multiple third connecting rods, the fixed column further includes positioning section, first positioning
Block, the second locating piece are respectively sleeved on the positioning section of the fixed column, and are slidably connected with it, each second connecting rod,
One end of three-link is hinged with first locating piece, the periphery of the second locating piece respectively, each second connecting rod, third connecting rod
The other end it is hinged with each obstacle detouring climbing mechanism respectively.
4. pipeline climbing robot as claimed in claim 3, which is characterized in that the obstacle detouring climbing mechanism includes multiple obstacle detourings
Mobile mechanism, fixed strip, two opposite sides of the fixed strip include the first side, second side, the first connecting rod, second connecting rod,
The other end of third connecting rod is hinged with first side respectively, and multiple obstacle detouring mobile mechanisms are separately mounted to described second side
On.
5. pipeline climbing robot as claimed in claim 4, which is characterized in that the obstacle detouring mobile mechanism includes that obstacle detouring is mobile
It takes turns, driving motor of creeping, rotation axis, the driving motor of creeping is mounted on the fixed strip, and the driving motor of creeping is logical
It crosses the rotation axis and the obstacle detouring movable pulley is drivingly connected.
6. pipeline climbing robot as claimed in claim 5, which is characterized in that the obstacle detouring movable pulley, rotation axis are respectively
Two, for the driving motor of creeping with active angular wheel, the rotation axis has driven angular wheel, each rotation axis
One end connect respectively with each obstacle detouring movable pulley, the other end of each rotation axis passes through the driven angular wheel respectively
Match with the active angular wheel and engages connection.
7. pipeline climbing robot as claimed in claim 4, which is characterized in that the obstacle detouring movable pulley includes wheel carrier, stretches
Contracting support device, the telescopic support device are mounted in the wheel carrier, and the wheel carrier includes wheel rim, are set on the wheel rim
There are multiple support through holes, the telescopic support device includes regulating mechanism, multiple support arms, and the regulating mechanism driving is each described
Support arm is flexible across each support through holes.
8. pipeline climbing robot as described in any one of claim 1 to 7, which is characterized in that the testing agency includes shining
Bright lamp, camera, ultrasonic sensor, before the headlamp, camera, ultrasonic sensor are separately mounted to the cabinet
End, the headlamp, camera, ultrasonic sensor are electrically connected with the control mechanism respectively.
9. pipeline climbing robot as described in any one of claim 1 to 7, which is characterized in that the control mechanism includes storing
Battery, controller, wireless signal transceiver, the battery, controller, wireless signal transceiver are separately mounted to the cabinet
Interior, the battery and the controller are electrically connected, the controller by the wireless signal transceiver respectively with it is described
Testing agency, telescopic drive motor, obstacle detouring climbing mechanism, detection fixing support rack are electrically connected.
10. pipeline climbing robot as described in any one of claim 1 to 7, which is characterized in that the detection fixing support rack
Including supporing shell, support plate, support driving mechanism, the support driving mechanism is mounted in the supporing shell, the branch
Supportting driving mechanism includes two lever arms, and the support driving mechanism passes through two lever arms and the support plate activity branch
Support connection.
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| CN201910550747.7A CN110118290B (en) | 2019-06-24 | 2019-06-24 | Pipeline crawling robot |
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|---|---|---|---|
| CN201910550747.7A CN110118290B (en) | 2019-06-24 | 2019-06-24 | Pipeline crawling robot |
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| CN110118290B CN110118290B (en) | 2024-04-26 |
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| CN110686964A (en) * | 2019-08-28 | 2020-01-14 | 长安大学 | Loess normal position detection pipeline drive robot |
| CN110792149A (en) * | 2019-11-08 | 2020-02-14 | 九江职业技术学院 | Multifunctional robot and system for cement pipeline |
| CN111350902A (en) * | 2020-03-13 | 2020-06-30 | 广州大学 | Pipeline robot with steering driving wheel belt |
| CN111795257A (en) * | 2020-07-10 | 2020-10-20 | 曾健 | Remote control type pipeline detection device |
| CN111980612A (en) * | 2020-09-02 | 2020-11-24 | 西安石油大学 | Slip mechanism for downhole choke |
| CN112067692A (en) * | 2020-08-26 | 2020-12-11 | 东南大学 | Ultrasonic probe pre-tightening and obstacle crossing mechanism for flaw detection robot |
| CN112728292A (en) * | 2021-02-02 | 2021-04-30 | 浙江海洋大学 | Oil tanker oil gas recovery pipeline wall climbing robot |
| CN113464768A (en) * | 2021-06-29 | 2021-10-01 | 国网黑龙江省电力有限公司电力科学研究院 | Boiler is used for metal pipeline nondestructive test robot of operation period |
| CN113932089A (en) * | 2020-07-14 | 2022-01-14 | 核动力运行研究所 | A serial-type robot of crawling for tiny pipeline overhauls |
| CN114182667A (en) * | 2021-11-17 | 2022-03-15 | 安庆师范大学 | Intelligent water horse for tidal lane and operation method thereof |
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| CN113464768A (en) * | 2021-06-29 | 2021-10-01 | 国网黑龙江省电力有限公司电力科学研究院 | Boiler is used for metal pipeline nondestructive test robot of operation period |
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