CN110594528A - Pipeline robot - Google Patents
Pipeline robot Download PDFInfo
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- CN110594528A CN110594528A CN201910923548.6A CN201910923548A CN110594528A CN 110594528 A CN110594528 A CN 110594528A CN 201910923548 A CN201910923548 A CN 201910923548A CN 110594528 A CN110594528 A CN 110594528A
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- fixing
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- 230000000670 limiting effect Effects 0.000 claims abstract description 80
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 21
- 230000035939 shock Effects 0.000 claims description 41
- 238000010521 absorption reaction Methods 0.000 claims description 15
- 239000007787 solid Substances 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 239000000725 suspension Substances 0.000 description 46
- 230000000694 effects Effects 0.000 description 17
- 238000000034 method Methods 0.000 description 12
- 239000011090 solid board Substances 0.000 description 11
- 230000008569 process Effects 0.000 description 9
- 239000006096 absorbing agent Substances 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003466 welding Methods 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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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 relates to a pipeline robot. The technical scheme of the invention is as follows: the pipeline robot comprises a main body, a stabilizing mechanism and a moving mechanism, wherein the stabilizing mechanism is movably connected to the main body, and the moving mechanism is rotatably connected to the stabilizing mechanism; the machine body main body comprises a front fixed head, a rear fixed head, a connecting column, a component box and a detection assembly; the stabilizing mechanism comprises a limiting part, a fixing part, a moving part, a tightening shaft, a push rod, a first shock-absorbing assembly and a second shock-absorbing assembly, and the moving mechanism comprises a crawler belt, a fixing assembly and a transmission assembly. The invention aims to provide a pipeline robot which not only can ensure that the pipeline robot is perfectly attached to the pipe wall, but also can stably travel in a changing pipeline, so that the pipeline robot can always keep attaching to the inner wall of the pipeline.
Description
Technical Field
The invention relates to a pipeline robot.
Background
In many fields of national economy, the use of pipelines is very extensive, a hidden microenvironment is formed in the pipelines, and pipeline robots are generated in order to search the interior of the pipelines and realize the operation of projects such as pipeline detection, cleaning, maintenance and the like. The pipeline robot is a special robot developed for the maintenance and repair operations of oil and gas transportation and other industrial pipelines, such as detection, spraying, interface welding, foreign matter cleaning and the like, and integrates an intelligent mobile carrier technology and a pipeline defect nondestructive detection technology. The oil-gas pipeline in service is detected, cleaned and maintained through the carried nondestructive detection device and the operation device, so that the pipeline can work safely and smoothly.
Therefore, whether the pipeline robot can be perfectly and tightly attached to the inner wall of the pipeline or not in the using process of the pipeline robot, whether the shock absorption device can avoid uneven surface in the pipeline or not in the advancing process or not, or whether the pipeline robot can not work continuously when the pipeline becomes narrow or wide, and whether the pipeline robot can complete the maintenance and the inspection in the pipeline or not is the basis of the working efficiency of the pipeline robot.
Disclosure of Invention
The invention aims to provide a pipeline robot which can not only ensure that a pipeline robot is perfectly attached to the wall of a pipeline, but also stably travel in a changing pipeline, so that the pipeline robot can always keep attaching to the inner wall of the pipeline.
In order to achieve the purpose, the invention adopts the technical scheme that:
a pipeline robot comprises a main body, a stabilizing mechanism and a moving mechanism, wherein the stabilizing mechanism is movably connected to the main body, and the moving mechanism is rotatably connected to the stabilizing mechanism;
the detection device comprises a machine body main body and a detection assembly, wherein the machine body main body comprises a front fixed head, a rear fixed head, a connecting column, a component box and the detection assembly, the front fixed head and the rear fixed head are connected through the connecting column, the component box is detachably connected between the front fixed head and the rear fixed head, a circuit board is arranged in the component box, the detection assembly comprises a rotating motor, a detection head and a detection box, the rotating motor is arranged in the detection box, the detection head is arranged on the outer side surface of the detection box and communicated with the interior of the detection box, the detection box is detachably connected on the front fixed head, and the rotating motor and the detection head are respectively;
the fixing mechanism comprises a limiting piece, a fixing piece, a moving piece, a tightening shaft, a push rod, a first shock-absorbing assembly and a second shock-absorbing assembly, the tightening shaft penetrates through the limiting piece, the fixing piece, the moving piece and the rear fixing head respectively and is in rotatable connection with the limiting piece, the fixing piece and the rear fixing head, the tightening shaft is in threaded fit connection with the moving piece, and the other ends of the limiting piece, the fixing piece and the moving piece can be movably connected to the connecting column; the rotating end of the rotating motor is connected with the tightening shaft in a matched mode and used for pushing the moving piece to the axial thread; one end of the limiting piece connected with the connecting column is rotatably connected with a first shock absorption assembly, and the other end of the first shock absorption assembly is rotatably connected to the moving mechanism; one end of the fixing piece connected with the connecting column is rotatably connected with a second shock absorption assembly, and the other end of the second shock absorption assembly is rotatably connected to the moving mechanism; one end of the moving piece, which is connected with the connecting column, is rotatably connected with a push rod, and the other end of the push rod is rotatably connected to the moving mechanism;
the moving mechanism comprises a track, a fixing assembly and a transmission assembly, wherein the transmission assembly is rotatably connected onto the fixing assembly, the track is coated on the outer surface of the transmission assembly, and the fixing assembly is rotatably connected with a first shock absorption assembly, a second shock absorption assembly and a push rod.
Adopt this technical scheme's pipeline robot, provide pipeline robot's basic frame through the fuselage main part, the components and parts box of fuselage main part is used for placing components and parts such as circuit board, preceding solid head and back solid head provide basic support frame for stabilizing the mechanism and moving mechanism with the frame that the spliced pole is connected, survey the rotation motor of subassembly, detecting head and survey the box, the detecting head is established and is being surveyed the box lateral surface and communicate inside surveying the box for detect the relevant information of pipeline, and survey the box and then be used for fixed detecting head and rotation motor, rotation motor is connected with the circuit board electricity respectively with the detecting head, collect information and to rotating motor send the instruction by the circuit board.
Stabilizing mean provides link gear for the support of pipeline robot to the pipeline, the locating part, mounting and preceding solid head can rotate at the take-up shaft, consequently, the take-up shaft can not receive the locating part at the pivoted in-process, the constraint of mounting and preceding solid head, make the take-up shaft can be used for on the moving member rather than threaded connection with pivoted energy, provide rotational energy for the take-up shaft by rotating the motor, make the moving member can carry out axial motion, catch bar on the moving member then is used for promoting moving mechanism toward the pipeline direction and realize stabilizing the pipeline robot in the pipeline, and the effect of first shock absorber subassembly or second shock absorber subassembly then lies in that the rotation range with the catch bar is injectd on the radial support round the pipeline robot.
The pipeline robot is used, after the pipeline robot is placed in a pipeline, a rotating motor is started, the rotating motor rotates to drive a tightening shaft which is in fit connection with the rotating motor, the rotating tightening shaft drives a moving piece which is in threaded connection with the rotating motor, the moving piece draws close to a fixing piece, the moving piece and the fixing piece can be movably connected to a connecting column, the moving direction of the moving piece is limited at the upper end of the connecting column, so that the moving piece and the fixing piece move relatively, the moving piece which draws close to the fixing piece drives a push rod which is in rotating connection with the upper end of the moving piece, and because the push rod and one end of a first shock-absorbing assembly or a second shock-absorbing assembly are connected to a fixing assembly of a moving mechanism, the first shock-absorbing assembly which is in rotating connection with the corresponding limiting piece and the second shock-absorbing assembly which is in rotating connection with the fixing piece are also driven to rotate by the fixing, when the moving member is drawn close to the fixing member, the moving end is only provided with the moving member, so that the fixing component is moved in the radial direction of the pipeline robot by the pushing force of the pushing rod and the first shock absorption component or the second shock absorption component, and the effect of tightly attaching the crawler of the pipeline robot to the inner wall of the pipeline is achieved.
The invention adopts the following improved technical scheme:
the rotatable coupling of tighten-up axle and locating part, mounting and back solid head is the bearing connection, locating part, mounting and back solid head relative distance between each other is fixed unchangeable, the moving member passes through the rotation of tighten-up axle and removes between mounting and back solid head, the rotation end of rotating the motor with tighten up the axle coaxial and fixed connection, the back is overhead still to be equipped with the lamp shade, be equipped with the bulb of being connected with the circuit board electricity in the lamp shade.
The rotatable connection of the tightening shaft, the limiting part, the fixing part and the rear fixing head is connected through the bearing, so that the friction force caused by the rotation of the tightening shaft can be reduced to the maximum extent, the bearing can be replaced, the material use cost can be saved, the relative distance among the limiting piece, the fixing piece and the rear fixing head is fixed and unchanged, can ensure that the moving piece moves between the fixed piece and the rear fixed head under the condition that the limiting piece, the fixed piece and the rear fixed head ensure the basic stable state, meanwhile, the movable space of the moving part is limited, different space sizes can meet the requirements of different pipelines, and the rotation end of rotating the motor with tighten up the coaxial and fixed connection of axle, can be so that the transmission of rotating the motor with tighten up the axle reduces the use of spare part, avoid because the wearing and tearing that cause under the long-term use are difficult to the replacement, the lamp shade that is equipped with on the solid head of back can be so that this pipeline robot can realize the illumination in the pipeline.
The invention adopts the following improved technical scheme:
the first shock-absorbing assembly and the second shock-absorbing assembly are consistent in structure, the first shock-absorbing assembly or the second shock-absorbing assembly comprises a first rotating piece, a limiting column, a spring, a limiting head and a second rotating piece, one end of the limiting column is in threaded connection with the first rotating piece, the spring is sleeved on the outer side of the limiting column, the other end of the limiting column is movably connected into the limiting head, two ends of the spring are in contact connection with the first rotating piece and the limiting head respectively, the limiting head is in threaded connection with the second rotating piece, the other end of the first rotating piece is in rotatable connection with the fixed assembly, and the other end of the second rotating piece is in rotatable connection with the limiting piece or the fixed piece.
The first shock-absorbing component and the second shock-absorbing component have the same structure, so that the two shock-absorbing components have the same use effect, the same structure can save development cost and material use cost, the first shock-absorbing component and the second shock-absorbing component can play a good shock-absorbing function, because the push rod is connected with the fixed component only a little, namely the left end and the right end of the fixed component can rotate by taking the joint with the push rod as a circle center, if the first shock-absorbing component and the second shock-absorbing component have no limiting function, the pipeline robot can hardly attach the fixed component to the inner wall of the pipeline as much as possible, after the first shock-absorbing component and the second shock-absorbing component are arranged, because the first shock-absorbing component or the second shock-absorbing component is composed of the first rotating part, the limiting column, the spring, the limiting head and the second rotating part, when the pipeline robot is narrowed or widened, when the first shock absorbing assembly or the second shock absorbing assembly is compressed, the limiting column pushes the limiting head, and the first rotating piece and the limiting head are close to each other and compress the spring, so that the first shock absorbing assembly or the second shock absorbing assembly provides the change allowance of the fixed assembly; when the first shock absorbing assembly or the second shock absorbing assembly is pulled open, the situation is opposite to that during compression, the fixing assembly can be adjusted through the first shock absorbing assembly or the second shock absorbing assembly along with the change of the size of the pipeline after the structure is adopted, and the fixing assembly is always pressed on the inner wall of the pipeline in a spring force mode.
The invention adopts the following improved technical scheme:
the second shock absorbing assembly and the first shock absorbing assembly are parallel to each other, the limiting head of the first shock absorbing assembly or the second shock absorbing assembly is of a hollow structure, an outer convex circular truncated cone is arranged at one end, connected with the limiting head, of the limiting column, and the outer convex circular truncated cone is limited to move in an inner cavity of the limiting head.
The second suspension component and the first suspension component are parallel to each other, so that when the pipeline is narrowed or widened, the second suspension component and the first suspension component can be synchronously compressed or pulled apart to deform, and the pipeline robot has better effect on different pipelines.
First shock absorber subassembly or second shock absorber subassembly's spacing head is inside hollow structure, and make the evagination round platform of spacing post restricted activity in the inner chamber of spacing head, can be through setting up the depth size of different spacing heads, thereby control first shock absorber subassembly or second shock absorber subassembly's the surplus that changes, especially when meetting the too narrow condition of pipeline, when all can't pass through under the biggest compression surplus, then carry out the rotation of catch bar on the contrary and make pipeline robot can pass through too narrow pipeline with the bulk motion of control fixed subassembly.
The invention adopts the following improved technical scheme:
the driving part comprises a track motor, a first rotating wheel, a first rotating shaft and a linkage gear set, the track motor is fixed on the fixing component, the linkage gear set is rotatably connected to the fixing component, the first rotating shaft is embedded in the axis of the first rotating wheel in a penetrating manner, the first rotating shaft is rotatably connected to the fixing component, first driving teeth are arranged on the outer surface of the first rotating wheel and are respectively matched with the track and the linkage gear set, the rotating end of the track motor is fixedly connected with the linkage gear set, and the track motor is electrically connected with the circuit board;
the driven part comprises a second rotating wheel and a second rotating shaft, the second rotating shaft is embedded in the shaft center of the second rotating wheel in a penetrating mode, the second rotating shaft is rotatably connected to the fixed assembly, second transmission teeth are arranged on the outer surface of the second rotating wheel, and the second transmission teeth are matched with the crawler belt.
Drive linkage gear group through the track motor, linkage gear group drives first runner and rotates, drives the track that the cooperation is connected on first runner from this and rotates to the realization is by track motor drive track, finally realizes that pipeline robot climbs the pipeline in the pipeline via the transmission of track.
The driven part is arranged to ensure that the crawler transmission device has enough stability, and the driven part moves in coordination with the movement of the driving part.
The invention adopts the following improved technical scheme:
the linkage gear set comprises a rotating gear, a first bevel gear and a second bevel gear, the rotating gear is coaxial with the first bevel gear and can be rotatably connected to the fixed assembly, the rotating gear is matched with the first transmission gear, the first bevel gear and the second bevel gear are mutually matched, and the second bevel gear is fixedly connected to the rotating end of the track motor.
The linkage gear set is composed of a rotating gear, a first bevel gear and a second bevel gear, in the rotating process of the crawler motor, the crawler motor transmits kinetic energy to the second bevel gear fixedly connected with the crawler motor, the transmission effect of the intersecting shaft is achieved through the meshing mode of the first bevel gear and the second bevel gear, in the coaxial rotating process, the first bevel gear and the rotating gear rotate coaxially, the received kinetic energy is transmitted to the rotating gear through the first bevel gear, the first bevel gear can drive the crawler to rotate, and the gear transmission effect of coaxial transmission through the rotation of the intersecting shaft is achieved.
The invention adopts the following improved technical scheme:
the fixing assembly comprises a left fixing plate, a right fixing plate, a left connecting piece and a right connecting piece group, one end of the first rotating shaft is rotatably connected to the left connecting piece, the other end of the first rotating shaft is rotatably connected to the right fixing plate, and the outer side of the left connecting piece is detachably connected with the left fixing plate; the right connecting piece group comprises a right connecting piece, a moving piece and a fastener, one end of the second rotating shaft is rotatably connected to the right connecting piece, the other end of the second rotating shaft is rotatably connected to the moving piece, one end of the moving piece is detachably connected with the right connecting piece, the other end of the moving piece is in contact connection with the right fixing plate, the right fixing plate is connected with the moving piece through the fastener, and the outer side of the right connecting piece is detachably connected with the left fixing plate; the right fixed plate is provided with a movable groove, and the movable part is connected to the movable groove in a matching mode.
Through the setting of left solid board, right solid board, left connecting piece and right connecting piece group, fix drive piece and follower respectively on left connecting piece and right connecting piece group, through the firm effect of left solid board and right solid board for drive piece and follower pull open certain distance, thereby tighten the track, avoid appearing becoming flexible at the in-process track of operation, lead to the track to have lost the effect of climbing and attaching at the pipeline inner wall.
The movable groove that is equipped with on the solid board of right cooperates with the moving part, when the track can't tighten under the restriction of the solid board of left side and the solid board of right side, through adjusting the position of moving part in the movable groove to finely tune the track, make the track continuously keep the state of tightening.
The invention adopts the following improved technical scheme:
and the right fixing plate is provided with a wire hole for an access wire of the track motor to penetrate, and the access wire is electrically connected with the circuit board.
The electric wire hole that is equipped with on the solid board of right side can make things convenient for the access line of track motor to penetrate for the track motor can be placed in the scope of track cladding intactly, makes the access line have the space of placing.
The invention adopts the following improved technical scheme:
the stabilizing mechanism and the moving mechanism at least comprise two groups, and the two groups are symmetrically distributed on two sides of the machine body main body.
Because firm mechanism and moving mechanism include two sets of at least, two sets of symmetric distribution in the both sides of fuselage main part, can play the effect that three points are firm, when pipeline robot moves in the pipeline, three points are firm can avoid pipeline robot to drop or be blocked in the pipeline.
After adopting the structure, the invention has the beneficial effects that:
moving member through stabilizing mean moves toward the axial of mounting for the moving member drives the catch bar, and locating part and mounting drive first seismic isolation component and second seismic isolation component, will fix the subassembly and radially promote at pipeline robot, make on the track laminating pipeline inner wall. Through the setting of first shock absorber subassembly or second shock absorber subassembly for pipeline robot's fixed subassembly when handling different pipeline sizes can make fixed subassembly change space through its self change allowance, also can make fixed subassembly hug closely as far as possible on the pipeline inner wall simultaneously, makes pipeline robot can be suitable for more complicated condition and accomplishes the work that its pipeline detected at the in-process of operation. Realize by crossing the coaxial driven gear drive effect of axle steering through rotating the motor to drive the transmission of track, make this pipeline robot can climb and attach and advance on the pipeline inner wall, the movable groove that is equipped with on the solid board of right side cooperates with the moving part, when the track can't tighten under the restriction of the solid board of left side and the solid board of right side, through adjusting the position of moving part at the movable groove, thereby finely tune the track, make the track continuously keep the state of tightening.
Drawings
FIG. 1 is an overall perspective view of the pipe robot of the present invention;
FIG. 2 is an overall front view of the pipe robot of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2 of the pipeline robot of the present invention;
fig. 4 is an overall perspective view of the pipe robot of the present invention.
FIG. 5 is a perspective view of the securing mechanism of the pipeline robot of the present invention;
FIG. 6 is a perspective view of the first or second suspension assembly of the pipe robot of the present invention;
FIG. 7 is a sectional view of the first or second suspension assembly of the pipe robot of the present invention.
FIG. 8 is a left side perspective view of the pipeline robot of the present invention;
fig. 9 is a left side perspective exploded view of the pipe robot of the present invention;
FIG. 10 is a right side perspective view of the pipeline robot of the present invention;
fig. 11 is a right side perspective exploded view of the pipe robot of the present invention;
FIG. 12 is a front view of the moving mechanism of the pipe robot of the present invention;
FIG. 13 is a B-B sectional view of the pipe robot of FIG. 12 of the present invention;
fig. 14 is a C-C sectional view of fig. 12 of the pipe robot of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 14, a pipeline robot comprises a main body 1, a securing mechanism 2 and a moving mechanism 3, wherein the securing mechanism 2 is movably connected to the main body 1, and the moving mechanism 3 is rotatably connected to the securing mechanism 2;
the detection device comprises a machine body main body 1 and a detection assembly 15, wherein the machine body main body 1 comprises a front fixed head 11, a rear fixed head 12, a connecting column 13, a component box 14 and the detection assembly 15, the front fixed head 11 is connected with the rear fixed head 12 through the connecting column 13, the component box 14 is detachably connected between the front fixed head 11 and the rear fixed head 12, a circuit board is arranged in the component box 14, the detection assembly 15 comprises a rotating motor 151, a detection head 152 and a detection box 153, the rotating motor 151 is arranged in the detection box 153, the detection head 152 is arranged on the outer side surface of the detection box 153 and communicated with the interior of the detection box 153, the detection box 153 is detachably connected on the front fixed head 11, and the rotating motor 151 and the detection head 152 are;
the stabilizing mechanism 2 comprises a limiting piece 21, a fixing piece 22, a moving piece 23, a tightening shaft 24, a push rod 25, a first shock-absorbing assembly 26 and a second shock-absorbing assembly 27, wherein the tightening shaft 24 respectively penetrates through the limiting piece 21, the fixing piece 22, the moving piece 23 and the rear fixing head 12 and is rotatably connected with the limiting piece 21, the fixing piece 22 and the rear fixing head 12, the tightening shaft 24 is in threaded fit connection with the moving piece 23, and the other ends of the limiting piece 21, the fixing piece 22 and the moving piece 23 are movably connected to the connecting column 13; the rotating end of the rotating motor 151 is connected with the tightening shaft 24 in a matching way and is used for pushing the moving piece 23 by axial threads; one end of the limiting piece 21 connected with the connecting column 13 is rotatably connected with a first shock-absorbing assembly 26, and the other end of the first shock-absorbing assembly 26 is rotatably connected with the moving mechanism 3; one end of the fixing member 22 connected with the connecting column 13 is rotatably connected with a second shock-absorbing assembly 27, and the other end of the second shock-absorbing assembly 27 is rotatably connected with the moving mechanism 3; one end of the moving piece 23 connected with the connecting column 13 is rotatably connected with a push rod 25, and the other end of the push rod 25 is rotatably connected to the moving mechanism 3;
the moving mechanism 3 comprises a crawler 31, a fixed assembly 32 and a transmission assembly 33, the transmission assembly 33 is rotatably connected to the fixed assembly 32, the crawler 31 is coated on the outer surface of the transmission assembly 33, and the fixed assembly 32 is rotatably connected to a first shock-absorbing assembly 26, a second shock-absorbing assembly 27 and a push rod 25.
The rotatable connection of the tightening shaft 24 and the limiting member 21, the fixing member 22 and the rear fixing head 12 is a bearing connection, the relative distance between the limiting member 21, the fixing member 22 and the rear fixing head 12 is fixed, the moving member 23 moves between the fixing member 22 and the rear fixing head 12 through the rotation of the tightening shaft 24, the rotating end of the rotating motor 151 is coaxial and fixedly connected with the tightening shaft 24, the rear fixing head 12 is further provided with a lampshade 121, and a bulb electrically connected with a circuit board is arranged in the lampshade 121.
The first suspension assembly 26 and the second suspension assembly 27 have the same structure, the first suspension assembly 26 or the second suspension assembly 27 includes a first rotating member 271, a limiting post 272, a spring 273, a limiting head 274 and a second rotating member 275, one end of the limiting post 272 is connected to the first rotating member 271 through a screw thread, the spring 273 is sleeved outside the limiting post 272, the other end of the limiting post 272 is movably connected to the limiting head 274, two ends of the spring 273 are respectively connected to the first rotating member 271 and the limiting head 274 through a contact, the limiting head 274 is connected to the second rotating member 275 through a screw thread, the other end of the first rotating member 271 is rotatably connected to the fixed assembly 32, and the other end of the second rotating member 275 is rotatably connected to the limiting member 21 or the fixed member 22.
The second suspension assembly 27 is parallel to the first suspension assembly 26, the limiting head 274 of the first suspension assembly 26 or the second suspension assembly 27 is of a hollow structure, the connecting end of the limiting column 272 and the limiting head 274 is an outward convex circular truncated cone, and the outward convex circular truncated cone is limited to move in the inner cavity of the limiting head 274.
The driving component 33 includes a driving component 331 and a driven component 332, the driving component 331 includes a track motor 3311, a first rotating wheel 3312, a first rotating shaft 3313 and a linkage gear set 3314, the track motor 3311 is fixed on the fixed component 32, the linkage gear set 3314 is rotatably connected to the fixed component 32, the first rotating shaft 3313 is inserted on the axis of the first rotating wheel 3312, the first rotating shaft 3313 is rotatably connected to the fixed component 32, a first transmission tooth 3315 is provided on the outer surface of the first rotating wheel 3312, the first transmission tooth 3315 is respectively matched with the track 31 and the linkage gear set 3314, the rotating end of the track motor 3311 is fixedly connected with the linkage gear set 3314, and the track motor 3311 is electrically connected with the circuit board;
the driven member 332 includes a second rotating wheel 3321 and a second rotating shaft 3322, the second rotating shaft 3322 is inserted into the axis of the second rotating wheel 3321, the second rotating shaft 3322 is rotatably connected to the fixed component 32, a second transmission gear 3323 is disposed on the outer surface of the second rotating wheel 3321, and the second transmission gear 3323 is engaged with the track 31.
The linkage gear set 3314 includes a rotation gear 3316, a first bevel gear 3317 and a second bevel gear 3318, wherein the rotation gear 3316 is coaxial with the first bevel gear 3317 and is rotatably connected to the fixing member 32, the rotation gear 3316 is engaged with the first transmission gear 3315, the first bevel gear 3317 and the second bevel gear 3318 are engaged with each other, and the second bevel gear 3318 is fixedly connected to the rotation end of the track motor 3311.
The fixing assembly 32 includes a left fixing plate 321, a right fixing plate 322, a left connecting member 323, and a right connecting member set 324, one end of the first rotating shaft 3313 is rotatably connected to the left connecting member 323, the other end thereof is rotatably connected to the right fixing plate 322, and the outer side of the left connecting member 323 is detachably connected to the left fixing plate 321; the right connecting member group 324 comprises a right connecting member 3241, a movable member 3242 and a fastening member 3243, one end of the second rotating shaft 3322 is rotatably connected to the right connecting member 3241, the other end of the second rotating shaft 33is rotatably connected to the movable member 3242, one end of the movable member 3242 is detachably connected to the right connecting member 3241, the other end of the movable member 3242 is in contact connection with the right fixing plate 322, the right fixing plate 322 is connected to the movable member 3242 through the fastening member 3243, and the outer side of the right connecting member 3241 is detachably connected to the left fixing plate 321; the right fixing plate 322 is provided with a movable groove 3221, and the movable member 3242 is connected to the movable groove 3221 in a matching manner.
The right fixing plate 322 is provided with a wire hole 3222, the wire hole 3222 is used for an access wire of the track motor 3311 to penetrate, and the access wire is electrically connected with the circuit board.
The stabilizing mechanism 2 and the moving mechanism 3 at least comprise two groups, and the two groups are symmetrically distributed on two sides of the machine body main body 1.
Adopt this technical scheme's pipeline robot, provide pipeline robot's basic frame through fuselage main part 1, fuselage main part 1's components and parts box 14 is used for placing components and parts such as circuit board, the frame that preceding solid head 11 and back solid head 12 and spliced pole 13 are connected provides basic support frame for stabilizing mean 2 and moving mechanism 3, detect rotation motor 151, detecting head 152 and the detection box 153 of subassembly 15, detecting head 152 establishes and surveys the box 153 inside in lateral surface and the intercommunication of detection box 153 for the relevant information of detection pipeline, and it then is used for fixed detecting head 152 and rotation motor 151 to survey box 153, rotation motor 151 is connected with the circuit board electricity respectively with detecting head 152, collect information and send the instruction to rotation motor 151 by the circuit board.
The stabilizing mechanism 2 provides a linkage mechanism for supporting the pipeline by the pipeline robot, the limiting member 21, the fixing member 22 and the front fixing head 11 can rotate on the tightening shaft 24, so that the tightening shaft 24 is not bound by the limiting member 21, the fixing member 22 and the front fixing head 11 in the rotating process, the tightening shaft 24 can apply rotating energy to the moving member 23 in threaded connection with the tightening shaft 24, the rotating motor 151 provides rotating energy for the tightening shaft 24, the moving member 23 can move axially, the push rod 25 on the moving member 23 is used for pushing the moving mechanism 3 towards the pipeline direction to stabilize the pipeline robot in the pipeline, and the first shock assembly 26 or the second shock assembly 27 is used for limiting the rotating range of the push rod 25 on the radial support around the pipeline robot.
The use process of the pipeline robot, after placing the pipeline robot in the pipeline, start the rotating electrical machine 151, the rotation of the rotating electrical machine 151 has driven the tightening shaft 24 connected with its cooperation, the tightening shaft 24 in rotation drives the moving member 23 in threaded connection with it, the moving member 23 draws close to the direction of the fixed part 22, and because the moving member 23 and the fixed part 22 can both be movably connected on the connecting column 13, the moving direction of the moving member 23 is limited at its upper end by the connecting column 13, therefore the moving member 23 and the fixed part 22 move relatively, the moving member 23 drawn close to the fixed part 22 has driven the push rod 25 rotatably connected at its upper end, and because the push rod 25 and one end of the first shock-absorbing component 26 or the second shock-absorbing component 27 are both connected on the fixed component 32 of the moving mechanism 3, the first shock-absorbing component 26 rotatably connected on the corresponding limiting part 21, and the second shock-absorbing component 27 rotatably connected on the fixed part 22 are also fixed by the fixed group along with the movement of the push rod The member 32 is rotated, and when the moving member 23 is moved toward the fixed member 22, the moving end is only provided with the moving member 23, so that the fixed member 32 is moved in the radial direction of the pipeline robot by the urging force of the push rod 25 and the first suspension assembly 26 or the second suspension assembly 27, thereby achieving the effect of tightly attaching the crawler 31 of the pipeline robot to the inner wall of the pipeline.
The tightening shaft 24 is connected with the limiting piece 21, the fixing piece 22 and the rear fixing head 12 through bearings, so that the friction force caused by the rotation of the tightening shaft 24 can be reduced to the maximum extent, the bearings can be replaced, the material use cost can be saved, the relative distance between the limiting piece 21, the fixing piece 22 and the rear fixing head 12 is fixed, the moving piece 23 can move between the fixing piece 22 and the rear fixing head 12 under the condition that the limiting piece 21, the fixing piece 22 and the rear fixing head 12 guarantee the basic stable state, the movable space of the moving piece 23 is limited, different space sizes can meet different pipeline size requirements, the rotating end of the rotating motor 151 is coaxial and fixedly connected with the tightening shaft 24, the use of parts can be reduced in the transmission of the rotating motor 151 and the tightening shaft 24, and the problem that the abrasion is difficult to replace due to long-term use is avoided, the lampshade 121 arranged on the rear fixed head 12 can enable the pipeline robot to realize illumination in the pipeline.
The first suspension assembly 26 and the second suspension assembly 27 have the same structure, so that the two suspension assemblies have the same use effect, and the same structure can save development cost and material use cost, the first suspension assembly 26 and the second suspension assembly 27 can play a good suspension role, because the connection between the push rod 25 and the fixed assembly 32 has only one point, that is, the left and right ends of the fixed assembly 32 can rotate around the connection with the push rod 25, if there is no limiting effect of the first suspension assembly 26 and the second suspension assembly 27, the pipeline robot can hardly attach the fixed assembly 32 to the inner wall of the pipeline as much as possible, after the first suspension assembly 26 and the second suspension assembly 27 are arranged, because the first suspension assembly 26 or the second suspension assembly 27 is composed of the first rotating member 271, the limiting column 272, the spring 273, the limiting head 274 and the second rotating member 275, when the pipeline robot encounters the narrowing or widening of the pipeline, one end of the fixing component 32 rotates, and the situation that the first suspension component 26 or the second suspension component 27 is compressed or pulled away occurs at this time, when the first suspension component 26 or the second suspension component 27 is compressed, the limiting column 272 pushes the limiting head 274, and the first rotating member 271 and the limiting head 274 are close to each other and compress the spring 273, so that the first suspension component 26 or the second suspension component 27 provides the variation allowance of the fixing component 32; when the first suspension unit 26 or the second suspension unit 27 is pulled apart, the fixing unit 32 can be adjusted by the first suspension unit 26 or the second suspension unit 27 according to the change in the size of the tube, and the fixing unit 32 is always pressed against the inner wall of the tube by the spring 273, contrary to the case of compression.
The parallelism of the second suspension assembly 27 and the first suspension assembly 26 allows the second suspension assembly 27 and the first suspension assembly 26 to compress or expand simultaneously when encountering narrowing or widening of a conduit, so that the conduit robot can respond better to different conduits.
The limit head 274 of the first suspension assembly 26 or the second suspension assembly 27 is of a hollow structure, and the outer convex round table of the limit column 272 is limited to move in the inner cavity of the limit head 274, and the depth of the limit head 274 can be set differently, so that the changeable allowance of the first suspension assembly 26 or the second suspension assembly 27 can be controlled, and particularly when the pipeline is too narrow, and cannot pass through under the maximum compression allowance, the push rod 25 is rotated to control the overall movement of the fixing assembly 32, so that the pipeline robot can pass through the too narrow pipeline.
Drive linkage gear train 3314 through track motor 3311, linkage gear train 3314 drives first runner 3312 and rotates, drives the track 31 that the cooperation is connected on first runner 3312 from this and rotates to the realization is by track motor 3311 transmission track 31, finally realizes that pipeline robot climbs the pipeline in the pipeline via the transmission of track 31.
The driven member 332 is provided to allow the track transmission to have sufficient stability, and the driven member 332 moves in accordance with the movement of the driving member 331.
The linkage gear set 314 is composed of a rotating gear 3316, a first bevel gear 3317 and a second bevel gear 3318, in the process of rotation of the track motor 3311, the track motor 3311 transmits kinetic energy to the second bevel gear 3318 fixedly connected thereto, the first bevel gear 3317 and the second bevel gear 3318 are engaged to realize the transmission effect of the intersecting axis, and in the process of coaxial rotation, the first bevel gear 3317 and the rotating gear 3316 rotate coaxially, the first bevel gear 3317 transmits the received kinetic energy to the rotating gear 3316, so that the first rotating wheel 3312 can drive the track 31 to rotate, thereby realizing the gear transmission effect of coaxial transmission by the rotation of the intersecting axis.
Through the arrangement of the left fixed plate 321, the right fixed plate 322, the left connecting piece 323 and the right connecting piece group 324, the driving piece 331 and the driven piece 332 are respectively fixed on the left connecting piece 323 and the right connecting piece group 324, and through the stabilizing effect of the left fixed plate 321 and the right fixed plate 322, the driving piece 331 and the driven piece 332 are pulled away by a certain distance, so that the crawler 31 is tightened, and the phenomenon that the crawler 31 is loosened in the running process to cause the crawler 31 to lose the effect of climbing on the inner wall of the pipeline is avoided.
The movable groove 3221 arranged on the right fixing plate 322 is matched with the movable element 3242, and when the crawler 31 cannot be tightened under the limitation of the left fixing plate 321 and the right fixing plate 322, the position of the movable element 3242 in the movable groove 3221 is adjusted, so that the crawler 31 is finely adjusted, and the crawler 31 is continuously kept in a tightened state.
The wire hole 3222 provided on the right fixing plate 322 can facilitate the penetration of the access wire of the track motor 3311, so that the track motor 3311 can be perfectly placed within the range covered by the track 31, and the access wire has a placing space.
Because firm mechanism 2 and moving mechanism 3 include two sets of at least, two sets of symmetric distribution in the both sides of fuselage main part 1 can play the effect that three points are firm, when pipeline robot moves in the pipeline, three points are firm can avoid pipeline robot to drop or be blocked in the pipeline.
The above description is only a preferred embodiment of the present invention, and the above preferred embodiment is not intended to limit the scope of the present invention; all equivalent modifications made in accordance with the scope of the claims of the present invention are covered by the scope of the claims of the present invention.
Claims (9)
1. A pipeline robot is characterized by comprising a main body, a stabilizing mechanism and a moving mechanism, wherein the stabilizing mechanism is movably connected to the main body, and the moving mechanism is rotatably connected to the stabilizing mechanism;
the detection device comprises a machine body main body and a detection assembly, wherein the machine body main body comprises a front fixed head, a rear fixed head, a connecting column, a component box and the detection assembly, the front fixed head and the rear fixed head are connected through the connecting column, the component box is detachably connected between the front fixed head and the rear fixed head, a circuit board is arranged in the component box, the detection assembly comprises a rotating motor, a detection head and a detection box, the rotating motor is arranged in the detection box, the detection head is arranged on the outer side surface of the detection box and communicated with the interior of the detection box, the detection box is detachably connected on the front fixed head, and the rotating motor and the detection head are respectively;
the fixing mechanism comprises a limiting piece, a fixing piece, a moving piece, a tightening shaft, a push rod, a first shock-absorbing assembly and a second shock-absorbing assembly, the tightening shaft penetrates through the limiting piece, the fixing piece, the moving piece and the rear fixing head respectively and is in rotatable connection with the limiting piece, the fixing piece and the rear fixing head, the tightening shaft is in threaded fit connection with the moving piece, and the other ends of the limiting piece, the fixing piece and the moving piece can be movably connected to the connecting column; the rotating end of the rotating motor is connected with the tightening shaft in a matched mode and used for pushing the moving piece to the axial thread; one end of the limiting piece connected with the connecting column is rotatably connected with a first shock absorption assembly, and the other end of the first shock absorption assembly is rotatably connected to the moving mechanism; one end of the fixing piece connected with the connecting column is rotatably connected with a second shock absorption assembly, and the other end of the second shock absorption assembly is rotatably connected to the moving mechanism; one end of the moving piece, which is connected with the connecting column, is rotatably connected with a push rod, and the other end of the push rod is rotatably connected to the moving mechanism;
the moving mechanism comprises a track, a fixing assembly and a transmission assembly, wherein the transmission assembly is rotatably connected onto the fixing assembly, the track is coated on the outer surface of the transmission assembly, and the fixing assembly is rotatably connected with a first shock absorption assembly, a second shock absorption assembly and a push rod.
2. The support device of a pipeline robot according to claim 1, wherein: the rotatable coupling of tighten-up axle and locating part, mounting and back solid head is the bearing connection, locating part, mounting and back solid head relative distance between each other is fixed unchangeable, the moving member passes through the rotation of tighten-up axle and removes between mounting and back solid head, the rotation end of rotating the motor with tighten up the axle coaxial and fixed connection, the back is overhead still to be equipped with the lamp shade, be equipped with the bulb of being connected with the circuit board electricity in the lamp shade.
3. The support device of a pipeline robot according to claim 1, wherein: the first shock-absorbing assembly and the second shock-absorbing assembly are consistent in structure, the first shock-absorbing assembly or the second shock-absorbing assembly comprises a first rotating piece, a limiting column, a spring, a limiting head and a second rotating piece, one end of the limiting column is in threaded connection with the first rotating piece, the spring is sleeved on the outer side of the limiting column, the other end of the limiting column is movably connected into the limiting head, two ends of the spring are in contact connection with the first rotating piece and the limiting head respectively, the limiting head is in threaded connection with the second rotating piece, the other end of the first rotating piece is in rotatable connection with the fixed assembly, and the other end of the second rotating piece is in rotatable connection with the limiting piece or the fixed piece.
4. The support device of a pipeline robot according to claim 3, wherein: the second shock absorbing assembly and the first shock absorbing assembly are parallel to each other, the limiting head of the first shock absorbing assembly or the second shock absorbing assembly is of a hollow structure, an outer convex circular truncated cone is arranged at one end, connected with the limiting head, of the limiting column, and the outer convex circular truncated cone is limited to move in an inner cavity of the limiting head.
5. The support device of a pipeline robot according to claim 1, wherein: the driving part comprises a track motor, a first rotating wheel, a first rotating shaft and a linkage gear set, the track motor is fixed on the fixing component, the linkage gear set is rotatably connected to the fixing component, the first rotating shaft is embedded in the axis of the first rotating wheel in a penetrating manner, the first rotating shaft is rotatably connected to the fixing component, first driving teeth are arranged on the outer surface of the first rotating wheel and are respectively matched with the track and the linkage gear set, the rotating end of the track motor is fixedly connected with the linkage gear set, and the track motor is electrically connected with the circuit board;
the driven part comprises a second rotating wheel and a second rotating shaft, the second rotating shaft is embedded in the shaft center of the second rotating wheel in a penetrating mode, the second rotating shaft is rotatably connected to the fixed assembly, second transmission teeth are arranged on the outer surface of the second rotating wheel, and the second transmission teeth are matched with the crawler belt.
6. The support device of a pipeline robot according to claim 5, wherein: the linkage gear set comprises a rotating gear, a first bevel gear and a second bevel gear, the rotating gear is coaxial with the first bevel gear and can be rotatably connected to the fixed assembly, the rotating gear is matched with the first transmission gear, the first bevel gear and the second bevel gear are mutually matched, and the second bevel gear is fixedly connected to the rotating end of the track motor.
7. The support device of a pipeline robot according to claim 5, wherein: the fixing assembly comprises a left fixing plate, a right fixing plate, a left connecting piece and a right connecting piece group, one end of the first rotating shaft is rotatably connected to the left connecting piece, the other end of the first rotating shaft is rotatably connected to the right fixing plate, and the outer side of the left connecting piece is detachably connected with the left fixing plate; the right connecting piece group comprises a right connecting piece, a moving piece and a fastener, one end of the second rotating shaft is rotatably connected to the right connecting piece, the other end of the second rotating shaft is rotatably connected to the moving piece, one end of the moving piece is detachably connected with the right connecting piece, the other end of the moving piece is in contact connection with the right fixing plate, the right fixing plate is connected with the moving piece through the fastener, and the outer side of the right connecting piece is detachably connected with the left fixing plate; the right fixed plate is provided with a movable groove, and the movable part is connected to the movable groove in a matching mode.
8. The support device of a pipeline robot according to claim 7, wherein: and the right fixing plate is provided with a wire hole for an access wire of the track motor to penetrate, and the access wire is electrically connected with the circuit board.
9. The support device of a pipeline robot according to any one of claims 1 to 8, wherein: the stabilizing mechanism and the moving mechanism at least comprise two groups, and the two groups are symmetrically distributed on two sides of the machine body main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910923548.6A CN110594528A (en) | 2019-09-27 | 2019-09-27 | Pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910923548.6A CN110594528A (en) | 2019-09-27 | 2019-09-27 | Pipeline robot |
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| CN110594528A true CN110594528A (en) | 2019-12-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910923548.6A Pending CN110594528A (en) | 2019-09-27 | 2019-09-27 | Pipeline robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110961293A (en) * | 2020-01-16 | 2020-04-07 | 三门宣教机械设备有限公司 | Self-adaptive pipeline spraying device |
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| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
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