CN110949553A - Crawler device suitable for crawling of seabed and water-air metal pipeline - Google Patents
Crawler device suitable for crawling of seabed and water-air metal pipeline Download PDFInfo
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- CN110949553A CN110949553A CN201911279810.4A CN201911279810A CN110949553A CN 110949553 A CN110949553 A CN 110949553A CN 201911279810 A CN201911279810 A CN 201911279810A CN 110949553 A CN110949553 A CN 110949553A
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- 239000002184 metal Substances 0.000 title claims abstract description 17
- 230000009193 crawling Effects 0.000 title claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000006978 adaptation Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000012423 maintenance Methods 0.000 abstract description 8
- 230000008859 change Effects 0.000 abstract description 4
- 238000010276 construction Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004642 transportation engineering Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/084—Endless-track units or carriages mounted separably, adjustably or extensibly on vehicles, e.g. portable track units
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Abstract
The invention relates to a crawler crawling device, in particular to a crawler device suitable for crawling of a seabed and a water-air metal pipeline. The crawler belt mechanism comprises two annular crawler belts which are arranged in parallel, the crawler belt angle changing mechanism is located between the two annular crawler belts, and the inner sides of the annular crawler belts are fixedly provided with crawler belt side plates. It has realized the maintenance task of marcing to large-scale platform, submarine pipeline, land pipeline, and this maintenance robot can freely change track angle in the work progress, accomplishes the task that multiple pipe diameter of self-adaptation overhauld, need not personnel and gets into in the construction range, economical and practical, and is safe high-efficient.
Description
Technical Field
The invention relates to a crawler crawling device, in particular to a crawler device suitable for crawling of a seabed and a water-air metal pipeline.
Background
In recent years, with the comprehensive start of oil and gas exploitation of ocean platforms and the east-west gas transportation engineering of China, large pipelines or combined processing system facilities of similar pipeline devices have the advantages of small occupied area, large effective working space, beautification of living environment and the like due to high-quality working efficiency and circular pipeline structures, and are widely applied. Meanwhile, the pipeline system has certain defects, due to corrosion, geological disasters and other reasons, the existing submarine pipelines and onshore pipelines have leakage for many times and cause the production stop of oil fields, and the accidents not only bring huge economic loss, but also more importantly cause a great deal of adverse effects on enterprises and residents. And current overhauls climbing pipe robot can't the self-adaptation pipe diameter at the maintenance in-process, when accomplishing the maintenance task of different pipe diameters, needs the robot to carry out the change of mechanism after returning to adapt to concrete work pipe diameter. The working mode is time-consuming and labor-consuming, and under the condition, a crawler mechanism suitable for the crawling of the seabed and the water-air metal pipeline is particularly important.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides the crawler device suitable for the crawling of the seabed and the water-air metal pipeline, realizes the advancing maintenance tasks of a large-scale ocean platform, the seabed pipeline and the land pipeline, can freely change the angle of the crawler in the construction process, completes the maintenance tasks of self-adaption to various pipe diameters, does not need personnel to enter the construction range, and is economical, practical, safe and efficient.
The technical scheme of the invention is as follows: a crawler device suitable for crawling of seabed and water-air metal pipelines comprises a crawler mechanism and a crawler angle changing mechanism, wherein the crawler mechanism comprises two annular crawlers arranged in parallel, a driving rotating wheel, a driven rotating wheel and a crawler side plate;
the crawler angle conversion mechanism comprises a worm gear bin, a gear pendulum system and a hinge supporting plate, the gear pendulum system comprises a gear pendulum, a driving gear and a driven gear I, the gear pendulum comprises a gear and a pendulum rod, the top end of the pendulum rod is fixed at the bottom of the gear, the bottom of the pendulum rod is fixedly connected with a crawler side plate, the gear pendulum comprises a gear pendulum I, a gear pendulum II, a gear pendulum III and a gear pendulum IV, an output shaft of the worm gear bin is connected with the driving gear, two sides of the driving gear are respectively meshed with the gears of the driven gear I and the gear pendulum II, the driven gear I is meshed with the gear of the gear pendulum I, and the rotation directions of the gear pendulum II and the gear pendulum I are;
the gear of the gear pendulum II is connected with the gear of the gear pendulum IV through a gear connecting rod, and the gear of the gear pendulum I is connected with the gear of the gear pendulum III through a gear connecting rod;
the crawler side plates of the crawler belts on the two sides are connected through the hinge supporting plates, each hinge supporting plate comprises three supporting plates, two adjacent supporting plates are connected through a hinge, one side face of each hinge supporting plate is fixedly connected with the crawler side plate of the crawler belt on one side, and the other side face of the corresponding hinge supporting plate is fixedly connected with the crawler side plate of the other crawler belt.
According to the invention, the annular crawler is internally provided with the driving rotating wheels and the driven rotating wheels which are arranged at intervals, the driving rotating wheels are positioned at the end part of the annular crawler, the driving rotating wheels are connected with the crawler motor, and the crawler motor acts to drive the driving rotating wheels to rotate, so that the whole annular crawler is driven to rotate, and the whole device moves along the axial direction of the hollow metal tube. The driven rotating wheel plays a role in guiding.
The worm gear and worm bin is internally provided with a worm gear and a worm which are meshed with each other, the motor drives the worm to move, the worm gear is driven to rotate through the meshing between the worm gear and the worm, the worm gear is connected with a gear swing system, an output shaft is fixed at the center of the worm gear, and the output shaft is connected with a driving gear key.
The gear of the gear pendulum II, the driving gear, the driven gear I and the gear of the gear pendulum I are all arranged in the gear bin, and the gear of the gear pendulum II, the driving gear, the driven gear I and the gear of the gear pendulum I are all in rotating connection with the side wall of the gear bin; the gear of the gear pendulum II, the gear III, the gear IV and the gear of the gear pendulum IV are all arranged in the gear bin, the gear of the gear pendulum II 1, the gear III, the gear IV and the gear of the gear pendulum IV are rotationally connected with the side wall of the gear bin, and the front gear bin and the rear gear bin are fixedly connected through a gear bin connecting plate.
A gear III and a gear IV are arranged between a gear of the gear pendulum III and a gear of the gear pendulum IV, the gear III is in meshing transmission connection with the gear of the gear pendulum III, the gear IV is in meshing transmission connection with the gear of the gear pendulum IV, and the gear III is in meshing transmission connection with the gear IV.
The invention has the beneficial effects that:
(1) the angle conversion of the two crawler belts in the crawler belt mechanism relative to the bottom plate is realized by arranging the crawler belt angle conversion mechanism, the requirement of self-adaption pipe diameter is met, the bottom surfaces of the crawler belts are always kept parallel to the surface of a pipeline to be climbed through the opening and closing of the two crawler belts, and the advancing power of the maintenance robot is maximized;
(2) the device simple structure is convenient for realize the regulation of track angle, through track angle change mechanism at the in-process of advancing, has realized the track to the self-adaptation regulation of pipeline, has improved maintenance efficiency, greatly reduced the cost of overhaul.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of a track angle changing mechanism;
fig. 3 is a schematic structural diagram of the closed climbing pipe of the invention.
In the figure: 1, a crawler mechanism; 2, a crawler motor; 3, a worm gear chamber; 4 driving rotating wheels; 5, a driven rotating wheel; 6 hinge supporting plates; 7, gear pendulum III; 8, a crawler belt angle changing mechanism; 9 a gear bin; 10 gear connecting rods; 11 a gear bin connecting plate; 12 an endless track; 13, swinging a gear II; 14 a drive gear; 15 driven gear I; 16, a gear pendulum I; 17, a gear pendulum IV; 18 track side plates; 19 an empty metal tube; 20 a gear III; 21 gear iv.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of ways different from those described herein and similar generalizations can be made by those skilled in the art without departing from the spirit of the invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.
As shown in figure 1, the crawler device suitable for the crawling of the seabed and the water-air metal pipeline comprises a crawler mechanism 1 and a crawler angle changing mechanism 8, wherein the crawler mechanism 1 comprises an annular crawler 12, a driving rotating wheel 4, a driven rotating wheel 5 and a crawler side plate 18, the crawler mechanism 1 comprises two annular crawlers 12 which are arranged in parallel, and the crawler angle changing mechanism 8 is positioned between the two annular crawlers 12. The driving rotating wheels 4 and the driven rotating wheels 5 which are arranged at intervals are arranged in the annular crawler 12, the driving rotating wheels 4 are located at the end part of the annular crawler 12, the driving rotating wheels 4 are connected with the crawler motor 2, and the crawler motor 2 acts to drive the driving rotating wheels 4 to rotate, so that the whole annular crawler 12 is driven to rotate, and the axial motion of the whole device along the hollow metal pipe is realized. The driven rotating wheel 5 plays a role of guiding. A track side plate 18 is fixed on the inner side of the annular track 12, and the track side plate 18 is connected with a track angle changing mechanism, so that the connection between the track mechanism and the track angle changing mechanism is realized.
The crawler belt angle changing mechanism 8 comprises a worm and gear bin 3, a gear swing system and a hinge supporting plate 6, a worm wheel and a worm which are meshed with each other are arranged in the worm and gear bin 3, a motor drives the worm to move, the worm wheel is driven to rotate through meshing between the worm wheel and the worm, and the worm wheel is connected with the gear swing system. The effect in worm gear storehouse can drive the driving gear rotation among the track transform angle device on the one hand, and on the other hand can make the track keep fixed angle completion through worm gear's auto-lock characteristic and climb the pipe motion.
As shown in figure 2, the gear swing system comprises a gear swing, a driving gear 14 and a driven gear I15, the gear swing comprises a gear and a swing rod, the top end of the swing rod is fixed at the bottom of the gear, and the bottom of the swing rod is fixedly connected with a side plate 18 of a track. The gear pendulum comprises a gear pendulum I16, a gear pendulum II 13, a gear pendulum III 7 and a gear pendulum IV 17. An output shaft is fixed at the center of the worm wheel and is in key connection with a driving gear 14, the worm wheel drives the driving gear 14 to rotate while rotating, two sides of the driving gear 14 are respectively provided with a driven gear I15 and a gear pendulum II 13, and the driving gear 14 is respectively meshed with gears of the driven gear I15 and the gear pendulum II 13. The driving gear 14 rotates and simultaneously drives the gears of the driven gear I15 and the gear pendulum II 13 to rotate in opposite directions, and in the gear rotating process of the gear pendulum II 13, the swing rod rotates along with the gears, so that the crawler belt on one side is driven to rotate. Driven gear I15 and the gear engagement of gear pendulum I16, driven gear I15 rotates the gear rotation that drives gear pendulum I16, and in the gear process of gear pendulum I16, its pendulum rod also rotates along with it to the track that drives the opposite side rotates. Because the rotation directions of the gear pendulum II 13 and the gear of the gear pendulum I16 are opposite, the crawler belts on two sides move inwards or outwards simultaneously, and therefore the opening and closing movement of the crawler belt mechanism is achieved. The gear of gear pendulum II 13, driving gear 14, driven gear I15, the gear of gear pendulum I16 all set up in gear storehouse 9, and gear pendulum II 13's gear, driving gear 14, driven gear I15, gear pendulum I16's gear all are connected with gear storehouse 9's lateral wall rotation.
The gear of the gear pendulum II 13 is connected with the gear of the gear pendulum IV 17 through a gear connecting rod 10, and the gear of the gear pendulum I16 is connected with the gear of the gear pendulum III 7 through the gear connecting rod 10. In the gear rotating process of the gear pendulum II 13, the gear of the gear pendulum IV 17 is driven to rotate through the gear connecting rod 10. In the gear rotating process of the gear pendulum I16, the gear of the gear pendulum III 7 is driven to rotate through the gear connecting rod 10. Through setting up two gear connecting rods 10, connect the a pair of gear pendulum of the left and right sides respectively, play the effect of moment of torsion conduction, alleviateed the track simultaneously and opened and close the gear motion process each other in-process, the torsional force between the gear tooth has promoted the stability of gear, and intensity makes track transform angle device safer. A gear III 20 and a gear IV 21 are arranged between a gear of the gear pendulum III 7 and a gear of the gear pendulum IV 17, wherein the gear III 20 is in meshing transmission connection with the gear of the gear pendulum III 7, the gear IV 21 is in meshing transmission connection with the gear of the gear pendulum IV 17, the gear III 20 is in meshing transmission connection with the gear IV 21, the gear III 20 and the gear IV 21 are arranged, the gear pendulum III 7 and the gear pendulum IV 17 are supported, and the strength of the gear pendulum III 7 and the gear pendulum IV 17 is improved. The gear of the gear pendulum II 13, the gear III 20, the gear IV 21 and the gear of the gear pendulum IV 17 are all arranged in the gear bin 9, and the gear of the gear pendulum II 13, the gear III 20, the gear IV 21 and the gear of the gear pendulum IV 17 are rotatably connected with the side wall of the gear bin 9. The front gear bin 9 and the rear gear bin 9 are fixedly connected through a gear bin connecting plate 11, so that the whole device is integrated.
The crawler belt side plates 18 of the crawler belts on the two sides are connected through the hinge supporting plates 6, each hinge supporting plate 6 comprises three supporting plates, two adjacent supporting plates are connected through a hinge, one side face of each hinge supporting plate 6 is fixedly connected with the crawler belt side plate of the crawler belt on one side, and the other side face of the corresponding hinge supporting plate 6 is fixedly connected with the crawler belt side plate of the other crawler belt. Under the drive of the crawler angle changing mechanism 8, when the crawler belts on the two sides are opened and closed, the hinge supporting plate 6 between the two crawler belts is also opened and closed, and the whole device is supported.
The working process of the invention is as follows: firstly, the motor drives the worm wheel and the worm wheel in the worm wheel and worm rod bin to move, the power output by the motor is transmitted to the output shaft through the worm wheel and the worm rod, and the output shaft drives the driving gear 14 to rotate. In the rotation process of the driving gear 14, the two gears at the outer side are driven to swing in opposite directions through the meshing between the gears in the gear swing mechanism. Because the two gear pendulums are fixedly connected with the side plates of the crawler belt, the gear pendulums drive the crawler belts on the two sides to complete opening and closing movement. After the crawler belt angle conversion is completed through the crawler belt angle conversion mechanism, the crawler belt motor 2 drives the driving rotating wheel 4 in the crawler belt mechanism 1 to rotate, and the forward and backward movement of the whole device is completed.
The crawler device suitable for the crawling of the seabed and the water-air metal pipeline is described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The utility model provides an adaptation seabed and empty metal pipeline crawler attachment that crawls of water which characterized in that: the crawler belt mechanism comprises a crawler belt mechanism (1) and a crawler belt angle changing mechanism (8), wherein the crawler belt mechanism (1) comprises an annular crawler belt (12), a driving rotating wheel (4), a driven rotating wheel (5) and a crawler belt side plate (18), the crawler belt mechanism (1) comprises two annular crawler belts (12) which are arranged in parallel, the crawler belt angle changing mechanism (8) is positioned between the two annular crawler belts (12), and the crawler belt side plate (18) is fixed on the inner side of each annular crawler belt (12);
the crawler angle conversion mechanism (8) comprises a worm gear bin (3), a gear swing system and a hinge supporting plate (6), the gear swing system comprises a gear swing, a driving gear (14) and a driven gear I (15), the gear swing comprises a gear and a swing rod, the top end of the swing rod is fixed to the bottom of the gear, the bottom of the swing rod is fixedly connected with a crawler side plate (18), the gear swing comprises a gear swing I (16), a gear swing II (13), a gear swing III (7) and a gear swing IV (17), an output shaft of the worm gear bin is connected with the driving gear (14), two sides of the driving gear (14) are respectively meshed with gears of the driven gear I (15) and the gear swing II (13), the driven gear I (15) is meshed with the gear of the gear swing I (16), and the gear of the gear swing II (13) is opposite to the gear of the gear swing I (16);
the gear of the gear pendulum II (13) is connected with the gear of the gear pendulum IV (17) through a gear connecting rod (10), and the gear of the gear pendulum I (16) is connected with the gear of the gear pendulum III 7 through the gear connecting rod (10);
the crawler belt side plates (18) of the crawler belts on the two sides are connected through the hinge supporting plates (6), each hinge supporting plate (6) comprises three supporting plates, the two adjacent supporting plates are connected through a hinge, one side face of each hinge supporting plate (6) is fixedly connected with the crawler belt side plate of the crawler belt on one side, and the other side face of the corresponding hinge supporting plate (6) is fixedly connected with the crawler belt side plate of the other crawler belt.
2. The crawler device for adapting to crawling of seabed and water-air metal pipelines as claimed in claim 1, wherein: the driving rotating wheels (4) and the driven rotating wheels (5) are arranged in the annular crawler (12) at intervals, the driving rotating wheels (4) are located at the end part of the annular crawler (12), and the driving rotating wheels (4) are connected with the crawler motor (2).
3. The crawler device for adapting to crawling of seabed and water-air metal pipelines as claimed in claim 1, wherein: the worm gear and worm bin (3) is internally provided with a worm gear and a worm which are meshed with each other, the motor drives the worm to act, an output shaft is fixed at the center of the worm gear and is in key connection with the driving gear (14).
4. The crawler device for adapting to crawling of seabed and water-air metal pipelines as claimed in claim 1, wherein: the gear of the gear pendulum II (13), the driving gear (14), the driven gear I (15) and the gear of the gear pendulum I (16) are all arranged in the gear bin (9), and the gear of the gear pendulum II (13), the driving gear (14), the driven gear I (15) and the gear of the gear pendulum I (16) are rotationally connected with the side wall of the gear bin (9); the gear of the gear pendulum II (13), the gear III (20), the gear IV (21) and the gear of the gear pendulum IV (17) are all arranged in the gear bin (9), the gear of the gear pendulum II (13), the gear III (20), the gear IV (21) and the gear of the gear pendulum IV (17) are rotatably connected with the side wall of the gear bin (9), and the front gear bin and the rear gear bin (9) are fixedly connected through a gear bin connecting plate (11).
5. The crawler device for adapting to crawling of seabed and water-air metal pipelines as claimed in claim 1, wherein: a gear III (20) and a gear IV (21) are arranged between the gear of the gear pendulum III (7) and the gear of the gear pendulum IV (17), the gear III (20) is in meshing transmission connection with the gear of the gear pendulum III (7), the gear IV (21) is in meshing transmission connection with the gear of the gear pendulum IV (17), and the gear III (20) is in meshing transmission connection with the gear IV (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911279810.4A CN110949553B (en) | 2019-12-13 | 2019-12-13 | Crawler device suitable for crawling submarine and water-air metal pipelines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911279810.4A CN110949553B (en) | 2019-12-13 | 2019-12-13 | Crawler device suitable for crawling submarine and water-air metal pipelines |
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| Publication Number | Publication Date |
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| CN110949553A true CN110949553A (en) | 2020-04-03 |
| CN110949553B CN110949553B (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911279810.4A Active CN110949553B (en) | 2019-12-13 | 2019-12-13 | Crawler device suitable for crawling submarine and water-air metal pipelines |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122297A (en) * | 2022-07-08 | 2022-09-30 | 郑州大学 | Reconfigurable peristaltic machine based on innovative crawler design |
| CN115723868A (en) * | 2022-12-05 | 2023-03-03 | 青岛海洋地质研究所 | Crawler device of seabed crawling vehicle and use method |
| CN115788441A (en) * | 2022-12-05 | 2023-03-14 | 青岛海洋地质研究所 | Seabed crawling vehicle and crawling method thereof |
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| CN115788441A (en) * | 2022-12-05 | 2023-03-14 | 青岛海洋地质研究所 | Seabed crawling vehicle and crawling method thereof |
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| Publication number | Publication date |
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| CN110949553B (en) | 2024-07-26 |
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