CN113353168B - Outer pipeline detection robot and walking method - Google Patents
Outer pipeline detection robot and walking method Download PDFInfo
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- CN113353168B CN113353168B CN202110918220.2A CN202110918220A CN113353168B CN 113353168 B CN113353168 B CN 113353168B CN 202110918220 A CN202110918220 A CN 202110918220A CN 113353168 B CN113353168 B CN 113353168B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
Abstract
The invention discloses an outer pipeline detection robot and a walking method, wherein the outer pipeline detection robot comprises an outer wall assembly and an inner wall assembly, the outer wall assembly and the inner wall assembly respectively comprise a plurality of electric control adsorption devices, and the electric control adsorption devices can be adsorbed on the outer wall of a detected pipeline; the transmission mechanism also comprises a main shaft and a transmission assembly connected with the main shaft; when the main shaft rotates forwards, the transmission assembly drives the outer wall assembly to move forwards and drives the electric control adsorption device on the outer wall assembly to move alternately close to and far away from the detected pipeline; when the main shaft rotates reversely, the transmission assembly drives the inner wall assembly to advance. The invention provides an outer pipeline detection robot and a walking method, which aim to solve the problem that a crawling robot in the prior art is not suitable for detecting the outer wall of a long-distance oil and gas conveying pipeline and achieve the purpose of being capable of adapting to the characteristics that the long-distance oil and gas conveying pipeline is gently arranged and needs to work in a long distance and the like.
Description
Technical Field
The invention relates to the field of oil and gas pipeline detection, in particular to an outer pipeline detection robot and a walking method.
Background
With the massive laying of long-distance oil and gas transmission pipelines, it becomes especially important to regularly detect and maintain the oil and gas transmission pipelines, and pipeline robots are one of the important means for carrying out such operations. In the field of oil and gas transmission pipelines, a great deal of research focuses on structural optimization and improvement of robots in pipelines so as to adapt to special operation environments of the oil and gas transmission pipelines, but research on detection robots outside the oil and gas pipelines is relatively less. The pole-climbing robot appears in other fields in the prior art, can climb and walk along a rod-shaped object, and can carry detection equipment to detect. However, the prior art is difficult to adapt to the application scene of the oil and gas transmission pipeline, and specifically: (1) the application scene of the existing pole-climbing robot is generally a rod-shaped object which needs climbing operation and has a larger inclination and even is completely upright, so the technical key points of the existing pole-climbing robot are generally on the aspects of stabilizing pole-climbing, pole-clasping, pole-descending and the like; the long-distance oil and gas transmission pipeline is generally tiled and relatively gentle when having a slope, and the requirement of ascending operation is avoided; (2) the existing pole-climbing robot generally simulates the shape of an animal climbing tree, two groups of climbing bodies respectively and alternately move to realize climbing, and the control and driving structures of the two groups of climbing bodies are very complex and are independent, so that the whole pole-climbing robot is large in size, large in equipment and extremely high in energy consumption; for a long-distance oil and gas conveying pipeline, because the pipeline distance is too long, the longer walking distance is completed through one-time operation, which is an important technical index, and the traditional pole-climbing robot needs to carry a large amount of energy (storage batteries) and even supply power through a long-distance cable to realize long-distance operation due to the defects of large size, complex driving and control structure, high energy consumption and the like, so that the using effect is extremely unsatisfactory. Therefore, a pipeline robot suitable for long-distance detection work of a long-distance oil and gas transmission pipeline is needed.
Disclosure of Invention
The invention provides an outer pipeline detection robot and a walking method, which aim to solve the problem that a crawling robot in the prior art is not suitable for detecting the outer wall of a long-distance oil and gas conveying pipeline and achieve the purpose of being capable of adapting to the characteristics that the long-distance oil and gas conveying pipeline is gently arranged and needs to work in a long distance and the like.
The invention is realized by the following technical scheme:
an outer pipeline detection robot comprises an outer wall assembly and an inner wall assembly, wherein the outer wall assembly and the inner wall assembly respectively comprise a plurality of electric control adsorption devices, and the electric control adsorption devices can be adsorbed on the outer wall of a detected pipeline; still include the main shaft, with the transmission assembly that the main shaft links to each other:
when the main shaft rotates forwards, the transmission assembly drives the outer wall assembly to move forwards and drives the electric control adsorption device on the outer wall assembly to move alternately close to and far away from the detected pipeline;
when the main shaft rotates reversely, the transmission assembly drives the inner wall assembly to advance.
Aiming at the problem that a crawling robot in the prior art is not suitable for detecting the outer wall of a long-distance oil and gas conveying pipeline, the invention firstly provides an outer pipeline detection robot, an outer wall assembly and an inner wall assembly can be independently adsorbed on the outer wall of a detected pipeline through an electric control adsorption device, and the electric control adsorption device in the application can be realized by using any adsorption device which is controlled by electrification and can be adsorbed on the oil and gas conveying pipeline in the prior art; since oil and gas transmission pipelines are generally made of ferrous materials, electromagnets are preferably used. The main shaft in this application rotates through arbitrary existing mode drive to carry out the transmission through drive assembly, with this walking of pipeline inspection robot outside this application of control. Specifically, when the main shaft rotates forwards, the transmission assembly is driven to act, the transmission assembly drives the outer wall assembly to move forwards and simultaneously drives the electric control adsorption device on the outer wall assembly to alternately move close to and away from the detected pipeline, and when the electric control adsorption device on the outer wall assembly is close to the outer wall of the pipeline, the electric control adsorption device can be started to adsorb the outer wall assembly on the pipe wall; on the contrary, when the electric control adsorption device on the outer wall assembly is far away from the outer wall of the pipeline, the independent advance of the outer wall assembly can be realized; when the main shaft rotates reversely, the transmission assembly is driven to act, and the transmission assembly drives the inner wall assembly to advance. It should be noted that, the forward rotation and the reverse rotation of the main shaft in the present application do not limit the specific rotation direction, and only the opposite rotation direction of the forward rotation and the reverse rotation is required, for example, if the clockwise rotation is the forward rotation in the overlooking state of the main shaft, the counterclockwise rotation is the reverse rotation in the state; similarly, if the clockwise rotation is changed to the forward rotation in the top view of the main shaft, the clockwise rotation in this state is the reverse rotation.
This application is at the during operation, only needs to carry out just reversing through arbitrary current drive arrangement drive spindle, can realize the stable walking of whole inspection robot along the pipe wall, and concrete walking process is as follows: firstly, adsorbing an inner wall assembly on a pipeline through an electric control adsorption device, and powering off the electric control adsorption device in an outer wall assembly to ensure that the outer wall assembly can be separated from contact with a pipe wall; at the moment, the main shaft is driven to rotate forwards in any existing driving mode, the transmission assembly drives the outer wall assembly to move forwards and simultaneously drives the electric control adsorption device on the outer wall assembly to be away from the detected pipeline firstly; at the moment, the electric control adsorption device on the outer wall assembly is separated from the surface of the detected pipeline, and the electric control adsorption device is not adsorbed any more after being powered off, so that the transmission assembly can smoothly drive the outer wall assembly to advance; after the outer wall assembly moves forward to the set stroke position, because the electric control adsorption device on the outer wall assembly moves alternately close to and away from the detected pipeline, the electric control adsorption device on the outer wall assembly reaches the position close to the outer wall of the detected pipeline again, and the electric control adsorption device on the outer wall assembly is electrified again to be adsorbed on the pipe wall again; then, the electric control adsorption device in the inner wall assembly is powered off to ensure that the inner wall assembly can be separated from the contact with the pipe wall, then the main shaft is driven to rotate reversely by any existing driving mode, the outer wall assembly keeps adsorbing the pipe wall and does not move, and the transmission assembly drives the inner wall assembly to advance. According to the working mode, the outer wall assembly and the inner wall assembly can be alternately adsorbed and advance, namely, the inner wall assembly is adsorbed on the pipe wall when the outer wall assembly advances; when the inner wall component advances, the outer wall component is adsorbed on the pipe wall. Compared with the existing pole-climbing robot, the pole-climbing robot has the advantages that as the pole-climbing robot acts on a long-distance oil and gas conveying pipeline, the characteristic that the long-distance oil and gas conveying pipeline is relatively gentle is utilized, stable walking is realized through the adsorption of the electric control adsorption device, and the pole-climbing robot is completely different from the prior art in consideration of technical side points such as pole-up, pole-holding, pole-down and the like; in addition, the main shaft is driven to rotate positively and negatively by any existing driving mode, the whole equipment can continuously advance along the pipeline, and the driving of positive and negative rotation can be realized by only adopting a common motor, so that the defects of large size, large equipment, high energy consumption and the like in the prior art are overcome.
Further, the outer wall assembly comprises two claw arms, the claw arms are arc-shaped, and the concave surfaces of the arc-shaped claw arms face the detected pipeline; the connecting rod is rotatably connected with the claw arm and is used for being connected with the transmission assembly; and the electrically controlled absorption device on the outer wall component is an outer wall electromagnet hinged with the claw arm. In this scheme, two claw arms relative distribution are in both sides, are convenient for embrace the pipeline from both sides, and the concave surface orientation of claw arm is detected the pipeline, is favorable to the pipeline of the different pipe diameters of claw arm adaptation to carry out work, and the outer wall electro-magnet articulates on claw arm, and it can be adsorbed both sides claw arm and realize interim fastening at the pipeline outer wall to switch on. In the scheme, each claw arm is rotatably connected with a connecting rod and is connected with the transmission assembly through the connecting rod, so that the transmission assembly effectively transmits the positive rotation action of the main shaft to the claw arms, and the claw arms are driven to alternately move close to and far away from the detected pipeline.
Further, the device also comprises a shell; the claw arm is hinged to the shell through a connecting shaft, the main shaft is rotatably connected with the shell through a bearing, a connecting rod shaft is fixedly connected to the claw arm, and the connecting rod is rotatably connected to the connecting rod shaft. The shell in this scheme is whole outer pipeline inspection robot's shell, except playing conventional effect of sheltering from, still can provide the station of articulated installation for the claw arm need not to carry out the straight line reciprocal when doing the alternating motion who is close to and keeps away from the detection pipeline, but can follow certain arc and rotate the lift, is favorable to avoiding the invalid contact between claw arm and the pipeline outer wall, reduces the wearing and tearing to claw arm and pipeline outer wall.
Furthermore, the transmission assembly comprises a gear fixedly connected with the main shaft and a groove cam connected with the main shaft through a one-way bearing; the rotation direction of the one-way bearing is the same as the reverse rotation direction of the main shaft; the groove cam is matched with the two push rods in the groove cam, one end, far away from the groove cam, of each push rod is in sliding fit in the linear sliding groove, and the two push rods are respectively in rotating connection with the two connecting rods. One of the core inventions of the present application is to use a one-way bearing and a grooved cam structure in a transmission assembly for cooperation. The one-way bearing can freely rotate in one direction and is locked in the other direction; grooved cams are mechanisms that utilize grooves to achieve positive closure of the cam. In the application, two push rods are assembled in the groove cam and respectively correspond to the two connecting rods, and one end, far away from the groove cam, of each push rod is in sliding fit in the linear sliding groove, so that when the groove cam rotates, the push rods are forced to reciprocate in the linear sliding grooves to push the connecting rods to reciprocate, and the claw arms can move alternately close to and far away from a detected pipeline; in the process, the main shaft rotates forwards, and the free rotation direction of the unidirectional bearing is the same as the reverse rotation direction of the main shaft, so that the forward rotation of the main shaft can be ensured to drive the groove cam to rotate synchronously. In the process that the main shaft rotates reversely and the transmission assembly drives the inner wall assembly to move forward, the groove cam connected with the main shaft is prevented from rotating through the one-way bearing, the outer wall electromagnet on the claw arm can be stably adsorbed on the outer wall of the pipeline, and the effect that the transmission assembly only drives the inner wall assembly to move forward and cannot drive the outer wall assembly to move forward is achieved.
Furthermore, the groove cam comprises a long shaft and a short shaft which are perpendicular to each other, and the groove cam is in an axisymmetric pattern along the long shaft and the short shaft; the groove of the groove cam comprises large stroke sections and small stroke sections, wherein the large stroke sections and the small stroke sections are positioned at two ends of a long shaft, all the large stroke sections and the small stroke sections are concentric arcs, and smooth transition sections are arranged between the adjacent large stroke sections and the adjacent small stroke sections. The groove cam in the scheme is in an axisymmetric shape along both the long axis and the short axis, and the groove cam is inevitably provided with a groove, the groove is limited by the scheme, so that two ends of the long axis are large stroke sections, two ends of the short axis are small stroke sections, when two push rods are positioned in the large stroke sections, the distance between the two push rods is maximum, and in the process of moving from the small stroke sections to the large stroke sections, the push rods drive corresponding connecting rods to move outwards, so that an electromagnet on the outer wall abuts against the outer wall of a pipeline; on the contrary, when the two push rods are positioned in the small stroke section, the distance between the two push rods is the minimum, and in the process of moving from the large stroke section to the small stroke section, the corresponding connecting rod is pulled back by pushing at the moment, so that the outer wall electromagnet is lifted and separated from the surface of the outer wall of the pipeline. A smooth transition section is arranged between any adjacent large stroke section and small stroke section so as to ensure that the push rod stably and continuously moves in the groove when the groove cam rotates. The claw arm is effectively controlled to move alternately according to the rule through the special groove-shaped design of the groove cam, stable lifting and putting down of the outer wall electromagnet are guaranteed, structural optimization of the power transmission device is guaranteed, and all power output of the power transmission device is guaranteed to be achieved through one driving device.
Further, the inner wall assembly comprises an inner wall frame, a rack which is arranged on the inner wall frame and meshed with the gear, and two wheel carriers which are positioned on one side of the inner wall frame facing the detected pipeline, wherein the two wheel carriers are respectively positioned at the front end and the rear end of the inner wall frame, and a plurality of guide wheels are arranged at the bottoms of the wheel carriers; the electric control adsorption device on the inner wall component is an inner wall electromagnet arranged on one side of the inner ledge facing the detected pipeline; and a plurality of damping springs are connected between the inner wall electromagnet and the inner wall frame. In this scheme, the inner wall frame is the major structure of inner wall subassembly, and it passes through the gear engagement among rack and the drive assembly, and when the main shaft reversal, the grooved cam does not take place to rotate under one-way bearing's effect, and gear revolve this moment, because the outer wall subassembly adsorbs on the pipeline this moment, and the main shaft all can only rotate unable forward movement with the gear, consequently drives the rack through the rotation of gear and moves forward, can drive whole inner wall subassembly and advance. In the scheme, wheel carriers are arranged at the front end and the rear end of one side of the inner wall frame, which faces the detected pipeline; the front and back in the present application are forward and backward directions along a straight line of the pipeline. The guide wheels at the bottom of the wheel frame are used for being in rolling contact with the outer wall of the pipeline so as to reduce resistance and abrasion. The inner wall electromagnet is used as an electric control adsorption device of the inner wall and is arranged on the inner wall assembly, a plurality of damping springs are connected between the inner wall electromagnet and the inner wall frame, and when the inner wall electromagnet is electrified, the electromagnet overcomes the resistance of the damping springs and is adsorbed on the pipeline; when the inner wall electromagnet is powered off, the inner wall electromagnet is directly pulled up under the action of the reset force of the damping spring, so that the inner wall electromagnet is not contacted with the pipe wall in the advancing process of the inner wall assembly.
Furthermore, the inner wall assembly comprises an inner wall rack, two wheel carriers positioned on one side of the inner wall rack facing the detected pipeline, and a plurality of guide wheels positioned at the bottom of the wheel carriers;
the steering assembly is further included; the steering assembly comprises two circular grooves respectively positioned at the front end and the rear end of the inner wall frame and a rotating wheel positioned in the circular grooves, the rotating wheel is coaxial with the circular grooves, and an annular gap is formed between the rotating wheel and the wall of the circular groove; a blocking piece is fixed in the annular gap, a shifting piece positioned in the annular gap is arranged on the rotating wheel, and an elastic piece positioned in the annular gap is arranged between the blocking piece and the shifting piece; the two rotating wheels are respectively and fixedly connected with the two wheel carriers.
The application also encounters the following technical problems in the design process: at present, most of product oil conveying pipelines in oil refineries basically adopt 90-degree bends, so that the problem of detecting the turning of a robot is very important for improving the performance in the related pipeline field of the oil refineries, and the technical emphasis in the prior art is that the robot stably climbs, descends and the like, so that the robot is not suitable for detecting oil and gas conveying pipelines in the oil refineries. Therefore, the steering assembly is specially designed for the 90-degree bend of the oil and gas conveying pipeline, the round grooves are formed in the front end and the rear end of the inner wall frame, the rotating wheel is rotatably connected in the round grooves, the rotating wheel is coaxial with the round grooves, an annular gap can be formed between the rotating wheel and the round grooves, and the annular gap is internally provided with the blocking piece which is relatively fixed and used for limiting the rotation of the rotating wheel. The rotating wheel is fixed with a shifting piece which is positioned in the annular gap and synchronously rotates along with the rotating wheel, and an elastic piece positioned in the annular gap is arranged between the blocking piece and the shifting piece. In the scheme, the two rotating wheels are fixedly connected with the two wheel frames respectively, so that when the application advances to a bent pipe, the wheel frame positioned in front firstly enters the bent pipe, the wheel frame rotates gradually and simultaneously drives the rotating wheels to rotate, and the elastic piece is driven by the shifting piece to deform in the rotating process of the rotating wheels; along with the main part entering bend of this application robot, the line between two runners slowly becomes the chord of return bend center circle, reaches the biggest rotation angle of wheel carrier when the rear wheel carrier just got into the bend, only needs to guarantee this angle in the biggest design rotation angle of rear wheel carrier, can guarantee this application can stably rotate this bend. After the bending is finished, the wheel frame can be automatically restored to the normal straight walking position by utilizing the resetting capability of the elastic piece. This scheme provides elastic resistance and angle restriction for the rotation of wheel carrier through the setting of runner, has guaranteed that the wheel carrier carries out stable rotation along pipeline camber, is showing the automation that has improved outer pipeline inspection robot and has crossed curved ability, can also avoid the phenomenon such as skidding of wheel carrier walking in-process even.
Furthermore, bosses are arranged at the front end and the rear end of the inner ledge, and the circular groove is formed in the bosses; the blocking piece and the shifting piece divide the annular gap into two arc-shaped grooves, elastic pieces are arranged in the two arc-shaped grooves, and the elastic pieces are reset springs; the rotating wheels and the corresponding wheel frames are respectively positioned on two sides of the inner ledge; when no external force acts, the axes of the two wheel frames are parallel, and the perpendicular line between the two wheel frames is parallel to the line of the centers of the two rotating wheels; and the maximum angle of the wheel carrier rotating in the circular groove meets the following requirements:
α＞90°-arcsin(AB/2/R)
wherein the content of the first and second substances,αis an included angle between the axis of the wheel frame and the connecting line of the circle centers of the two rotating wheels; AB is the distance between the centers of the two rotating wheels; and R is the turning radius of the axis of the curve of the detected pipeline.
According to the steering mechanism, the reset springs are arranged on the two sides of the shifting piece and serve as elastic pieces, and the other ends of the reset springs are in contact with the blocking piece, so that the steering mechanism can stably steer to different turning directions; and when no external force acts, the return springs on the two sides act simultaneously, so that the wheel frames can be ensured to be stably positioned at a set position (namely the position in the advancing direction), the axes of the two wheel frames are theoretically parallel to each other, and the perpendicular line between the two wheel frames is parallel to the line of the circle centers of the two rotating wheels, so that the state is an ideal state of the wheel frames when the straight pipe is advanced.
In this scheme, the wheel carrier can satisfy at the biggest angle of circular slot internal rotation:αmore than 90 degrees-arcsin (AB/2/R), namely, when the wheel frame rotates to the extreme position, the included angle between the axis of the wheel frame and the connecting line of the circle centers of the two rotating wheels is givenαThe above relationship needs to be satisfied. At an angleαWhen satisfying this requirement, can guarantee the automatic steady 90 bends of passing through of outer pipeline inspection robot of this application. In the scheme, the angleαThe included angle between the axis of the wheel frame and the connecting line of the centers of the two rotating wheels is limited by the size and the position of the blocking piece, the elasticity and the deformation degree of the return spring and the like.
A walking method of an outer pipeline detection robot comprises an inner wall assembly, an outer wall assembly and a transmission assembly; the walking method comprises the following steps:
step S1, the electric control adsorption devices in the inner wall assembly and the outer wall assembly are electrified, and the outer pipeline detection robot is adsorbed on the outer wall of the pipeline;
step S2, powering off the electric control adsorption device in the outer wall assembly;
step S3, the motor rotates forwards to drive the main shaft in the transmission assembly to rotate forwards, the main shaft drives the gear to rotate, and the main shaft also drives the groove cam to rotate under the action of the one-way bearing;
in the rotation process of the gear, the gear moves along a rack fixed in the inner wall assembly to drive the outer wall assembly to move forwards;
in the rotation process of the groove cam, firstly, a push rod in the transmission assembly is driven to move from a large stroke section to a small stroke section of the groove, so that the push rod is retracted inwards along the linear sliding groove, the connecting rod is driven to move upwards, and an electric control adsorption device in the outer wall assembly is driven to be separated from the outer wall of the pipeline; then, a push rod in the transmission assembly is driven to move from a small stroke section to a large stroke section of the groove, the push rod is pushed out along the linear sliding groove, the connecting rod is pushed to move downwards, and an electric control adsorption device in the outer wall assembly is driven to abut against the outer wall of the pipeline; the electric control adsorption device in the outer wall assembly is electrified again to adsorb the outer wall assembly on the outer wall of the pipeline;
step S4, the electric control adsorption device in the inner wall assembly is powered off, and the damping spring in the inner wall assembly is reset, so that the electric control adsorption device in the inner wall assembly is separated from the outer wall of the pipeline;
step S5, the motor rotates reversely to drive the main shaft in the transmission assembly to rotate reversely, the main shaft drives the gear to rotate, and the groove cam does not rotate under the action of the one-way bearing; in the rotation process of the gear, the rack is driven to move to drive the inner wall assembly to advance;
step S6, after the inner wall assembly advances to the right position, the electric control adsorption device in the inner wall assembly is electrified again, and the inner wall assembly is adsorbed on the outer wall of the pipeline by overcoming the resistance of the damping spring;
step S7, repeating the steps S2-S6.
In the method, the main shaft is controlled by a motor to rotate forwards and backwards, so that the outer pipeline detection robot can walk stably and continuously.
Further, the outer pipe inspection robot includes a steering assembly for steering;
the steering assembly comprises two circular grooves respectively positioned at the front end and the rear end of the inner wall frame and a rotating wheel positioned in the circular grooves, the rotating wheel is coaxial with the circular grooves, and an annular gap is formed between the rotating wheel and the wall of the circular groove; a blocking piece is fixed in the annular gap, a shifting piece positioned in the annular gap is arranged on the rotating wheel, and an elastic piece positioned in the annular gap is arranged between the blocking piece and the shifting piece; the two rotating wheels are respectively and fixedly connected with the two wheel carriers; maximum angle at which the wheel carrier can rotate in the circular grooveαSatisfies the following conditions:
α＞90°-arcsin(AB/2/R)；
wherein AB is the distance between the centers of the two rotating wheels; r is the radius of the center of a central circle of the bend of the pipeline to be detected;
the steering method comprises the following steps:
the wheel carrier in the steering assembly, which is close to the advancing direction, enters a curve firstly and rotates along the axis of the pipeline to drive the rotating wheel close to the advancing direction to rotate synchronously, and the rotating wheel drives the corresponding elastic part to deform;
the wheel carrier far away from the advancing direction in the steering assembly gradually enters a curve and rotates along the axis of the pipeline to drive the rotating wheel far away from the advancing direction to synchronously rotate, and the rotating wheel drives the corresponding elastic part to deform;
after passing through the curve, the elastic part resets to drive the corresponding rotating wheel to reset so as to drive the wheel carrier to reset.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. compared with the existing pole-climbing robot, the outer pipeline detection robot and the walking method are completely different from the prior art in consideration of technical points such as pole-up, pole-holding, pole-down and the like.
2. According to the outer pipeline detection robot and the walking method, the whole equipment can continuously advance along the pipeline only by driving the main shaft to rotate forwards and backwards, and the forward and reverse rotation can be driven only by adopting a common motor, so that the defects of large size, large equipment, high energy consumption and the like in the prior art are overcome, and the robot has the advantages of simple structure, relative portability, low energy consumption and the like compared with the prior art, can fully meet the requirement of long-distance operation of a long oil and gas pipeline, and can obviously improve the walking distance of single operation on the premise of carrying storage batteries with the same capacity.
3. The invention relates to an outer pipeline detection robot and a walking method.A one-way bearing is matched with a groove cam structure to realize the alternate motion of a claw arm approaching to and departing from a detected pipeline and realize the lifting and the putting down of the claw arm in an outer wall component; in addition, in the process that the main shaft rotates reversely and the transmission assembly drives the inner wall assembly to move forwards, the groove cam connected with the main shaft is prevented from rotating through the one-way bearing, the outer wall electromagnet on the claw arm can be stably adsorbed on the outer wall of the pipeline, and the effect that the transmission assembly only drives the inner wall assembly to move forwards and cannot drive the outer wall assembly to move forwards is achieved.
4. According to the outer pipeline detection robot and the walking method, the claw arms are effectively controlled to alternately move according to the rule through the special groove-shaped design of the groove cam, stable lifting and putting down of the outer wall electromagnet are guaranteed, structural optimization of the robot is guaranteed, and all power output of the robot is guaranteed to be achieved through one driving device.
5. The outer pipeline detection robot and the walking method can ensure that the finished oil in an oil refinery can automatically and stably pass through a 90-degree bend, and solve the problems that the prior art is difficult to automatically turn and automatically walk for a long distance because the finished oil conveying pipelines in the oil refinery basically adopt 90-degree bends.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is an exploded view of an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the present invention in the state without a housing;
FIG. 4 is a schematic structural diagram of a transmission assembly in an embodiment of the present invention;
FIG. 5 is a schematic view of a portion of an outer wall assembly in accordance with an embodiment of the present invention;
FIG. 6 is a top view of a grooved cam in an embodiment of the present invention;
FIG. 7 is a schematic view of a portion of an inner wall assembly according to an embodiment of the present invention.
Reference numbers and corresponding part names in the drawings:
1-outer wall electromagnet, 2-claw arm, 3-connecting rod shaft, 4-connecting rod, 5-sliding rail, 6-damping spring, 7-connecting shaft, 8-outer shell, 9-linear sliding groove, 10-bevel gear, 11-groove cam, 111-large stroke section, 112-small stroke section, 113-transition section, 12-main shaft reinforcing piece, 13-gear, 14-rack, 15-toggle piece, 16-elastic piece, 17-inner wall frame, 18-detector rear frame, 19-wheel frame, 20-guide wheel, 21-detector front frame, 22-inner wall electromagnet, 23-one-way bearing, 24-push rod, 25-main shaft, 26-bearing, 27-boss, 28-rotating wheel and 29-annular gap, 30-flight.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention. In the description of the present application, it is to be understood that the terms "front", "back", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the scope of the present application.
Example 1:
the outer pipeline detection robot as shown in fig. 1 to 3 comprises an outer wall assembly and an inner wall assembly, wherein the outer wall assembly and the inner wall assembly respectively comprise a plurality of electric control adsorption devices which can be adsorbed on the outer wall of a detected pipeline; still include main shaft 25, the transmission assembly who links to each other with main shaft 25: when the main shaft 25 rotates forwards, the transmission assembly drives the outer wall assembly to move forwards and drives the electric control adsorption device on the outer wall assembly to move alternately close to and far away from the detected pipeline; when the main shaft 25 rotates reversely, the transmission assembly drives the inner wall assembly to advance.
In this embodiment, the spindle 25 is driven by a motor, and the output of the motor may drive the bevel gear 10 to rotate in any conventional manner. The motor drives the main shaft to rotate forwards (anticlockwise rotation) when rotating forwards, and the motor drives the main shaft to rotate backwards (clockwise rotation) when rotating backwards.
The electrically controlled adsorption devices in this embodiment are all electromagnets.
Example 2:
an outer pipeline detection robot is based on embodiment 1, and an outer wall assembly is shown in fig. 5 and comprises two claw arms 2, wherein the claw arms 2 are arc-shaped with downward concave surfaces; the connecting rod 4 is rotatably connected with the claw arm 2, and the connecting rod 4 is used for being connected with the transmission assembly; the electrically controlled absorption device on the outer wall component is an outer wall electromagnet 1 hinged with a claw arm 2. Further comprises a housing 8; the claw arm 2 is hinged with the shell 8 through the connecting shaft 7, the main shaft 25 is rotatably connected with the shell 8 through the bearing 26, the connecting rod shaft 3 is fixedly connected to the claw arm 2, and the connecting rod 4 is rotatably connected to the connecting rod shaft 3.
The transmission assembly is shown in fig. 4 and comprises a gear 13 fixedly connected with a main shaft 25, and a groove cam 11 connected with the main shaft 25 through a one-way bearing 23; the rotation direction of the one-way bearing 23 is the same as the reverse rotation direction of the main shaft 25; the groove cam assembly further comprises two push rods 24 matched in the groove cam 11, one end, far away from the groove cam 11, of each push rod 24 is in sliding fit in the linear sliding groove 9, and the two push rods 24 are respectively in rotating connection with the two connecting rods 4 in the outer wall assembly.
As shown in fig. 7, the inner wall assembly includes an inner ledge 17, a rack 14 mounted on the inner ledge 17 and engaged with the gear 13, and two wheel carriers 19 located on one side of the inner ledge 17 facing the detected pipeline, the two wheel carriers 19 are respectively located at the front and rear ends of the inner ledge 17, and a plurality of guide wheels 20 are arranged at the bottom of the wheel carriers 19; the electrically controlled absorption device on the inner wall component is an inner wall electromagnet 22 arranged on one side of the inner wall rack 17 facing the detected pipeline; a plurality of damping springs 6 are connected between the inner wall electromagnet 22 and the inner wall frame 17.
In one or more preferred embodiments, the groove cam 11 includes a major axis and a minor axis perpendicular to each other as shown in fig. 6, and the groove cam 11 has an axisymmetric pattern along both the major axis and the minor axis; the groove of the groove cam 11 comprises large stroke sections 111 at two ends of a long shaft and small stroke sections 112 at two ends of a short shaft, all the large stroke sections 111 and the small stroke sections 112 are concentric arcs, and a smooth transition section 113 is arranged between the adjacent large stroke sections 111 and the small stroke sections 112.
In one or more preferred embodiments, the bearings 26 are deep groove ball bearings.
In one or more preferred embodiments, the left end and the right end of the wheel frame 19 are respectively provided with a guide wheel, and the guide wheels are inclined inwards at a certain angle to ensure the stable contact with the outer wall of the circular tube, which is beneficial to the stable and rapid walking of the present application.
In one or more preferred embodiments, as shown in fig. 1, the inner wall frame 17 is further provided with a slide rail 5, and the outer shell 8 is slidably engaged with the slide rail 5 to improve the stability when the inner wall assembly or the outer wall assembly is advanced independently in the present application. Wherein the slide rail 5 and the rack 14 are located on either side of the inner ledge 17.
In one or more preferred embodiments, a main shaft reinforcing member 12 fixedly connected to the main shaft 25 is further included to reinforce the main shaft 25.
When the detector works specifically, the detection equipment is arranged on the front support 21 of the detector;
preferably, the detector front support 21 is connected to the inner ledge 17 by the detector rear support 18.
The concrete walking process of the outer pipeline detection robot in the embodiment is as follows:
step S1, the electric control adsorption devices in the inner wall assembly and the outer wall assembly are electrified, and the outer pipeline detection robot is adsorbed on the outer wall of the pipeline;
step S2, powering off the electric control adsorption device in the outer wall assembly;
step S3, the motor rotates forwards to drive the main shaft 25 in the transmission assembly to rotate forwards, the main shaft 25 drives the gear 13 to rotate, and the main shaft 25 also drives the groove cam 11 to rotate under the action of the one-way bearing 23;
in the rotating process of the gear 13, the gear moves along a rack 14 fixed in the inner wall component to drive the outer wall component to advance;
in the rotation process of the groove cam 11, firstly, the push rod 24 in the transmission assembly is driven to move from the large stroke section 111 to the small stroke section 112 of the groove, so that the push rod 24 is retracted inwards along the linear sliding groove 9, the connecting rod 4 is driven to move upwards, and the electric control adsorption device in the outer wall assembly is driven to be separated from the outer wall of the pipeline; then, the push rod 24 in the transmission assembly is driven to move from the small stroke section 112 to the large stroke section 111 of the groove, so that the push rod 24 is pushed out along the linear sliding groove 9, the connecting rod 4 is pushed to move downwards, and the electric control adsorption device in the outer wall assembly is driven to prop up the outer wall of the pipeline; the electric control adsorption device in the outer wall assembly is electrified again to adsorb the outer wall assembly on the outer wall of the pipeline;
step S4, the electric control adsorption device in the inner wall assembly is powered off, and the damping spring 6 in the inner wall assembly is reset, so that the electric control adsorption device in the inner wall assembly is separated from the outer wall of the pipeline;
step S5, the motor rotates reversely to drive the main shaft 25 in the transmission assembly to rotate reversely, the main shaft 25 drives the gear 13 to rotate, and the groove cam 11 does not rotate under the action of the one-way bearing 23; in the rotation process of the gear 13, the driving rack 14 moves to drive the inner wall component to advance;
step S6, after the inner wall assembly advances to the right position, the electric control adsorption device in the inner wall assembly is electrified again, and the inner wall assembly is adsorbed on the outer wall of the pipeline by overcoming the resistance of the damping spring 6;
step S7, repeating the steps S2 to S6.
In conclusion, the groove cam structure is adopted in the embodiment, the gear and the groove cam are driven to rotate through forward rotation and backward rotation of the motor, and the clamping claw is lifted up and down; the three electromagnets are alternately electrified to generate adsorption force, so that the outer wall and the inner wall of the device are alternately adsorbed on the outer side of the detection pipeline, and support is provided for the movement of each part; the walking motion of the robot mainly depends on the positive and negative rotation of a positive and negative rotation driving gear of a motor, and the alternating forward movement of the inner wall and the outer wall is realized through the meshing transmission of the gear and a rack; the claw arm is controlled to move according to the rule through a special cam axis designed on the groove cam; based on the principle that the one-way bearing can rotate clockwise but not rotate anticlockwise, the claw arm is not moved when the main shaft rotates clockwise, and the claw arm moves when the main shaft rotates anticlockwise.
Example 3:
an outer pipeline inspection robot is based on any of the above embodiments, as shown in fig. 2 and 7, the inner wall assembly includes an inner ledge 17, two wheel frames 19 located on one side of the inner ledge 17 facing the inspected pipeline, and a plurality of guide wheels 20 located at the bottom of the wheel frames 19; the steering assembly is further included;
the steering assembly comprises two circular grooves respectively positioned at the front end and the rear end of the inner ledge 17 and a rotating wheel 28 positioned in the circular grooves, the rotating wheel 28 is coaxial with the circular grooves, and an annular gap 29 is formed between the rotating wheel 28 and the walls of the circular grooves; a stopper 30 is fixed in the annular gap 29, a dial 15 positioned in the annular gap 29 is arranged on the rotating wheel 28, and an elastic element 16 positioned in the annular gap 29 is arranged between the stopper 30 and the dial 15; the two wheels 28 are fixedly connected with the two wheel frames 19 respectively.
Wherein, the front and back ends of the inner wall frame 17 are provided with bosses 27, and the circular groove is arranged on the bosses 27; the stopper 30 and the shifting member 15 divide the annular gap 29 into two arc-shaped grooves, the elastic members 16 are arranged in the two arc-shaped grooves, and the elastic members 16 are reset springs; the rotating wheels 28 and the corresponding wheel frames 19 are respectively positioned at two opposite sides of the inner ledge 17; when no external force acts, the axes of the two wheel frames 19 are parallel, and the perpendicular line between the two wheel frames 19 is parallel to the line of the centers of the two rotating wheels 28.
In one or more preferred embodiments, the maximum angle of rotation of the wheel carrier 19 within the circular groove satisfies:
α> 90 ° -arcsin (AB/2/R); wherein the content of the first and second substances,αthe angle between the axis of the wheel frame 19 and the line connecting the centers of the two rotating wheels 28 is defined as AB, which is the distance between the centers of the two rotating wheels 28 (or called the center distance of the main shaft), and R, which is the radius of the center circle of the curve of the pipeline to be detected. Taking the robot of the application with AB =200mm and the pipeline with R =686mm as examples, the motion principle of the robot of the application can be known that when the front wheel carrier completely enters the pipe diameter of the turning pipe and the rear wheel carrier is about to enter the pipe diameter of the turning pipe, the rotation angle of the lower wheel reaches the maximum value, and the calculation process is as follows:
Sin（γ/2）=100/686（3.5）；
γ=2arcsin(100/686)=15.2°；
wherein gamma is the corresponding central angle between the two wheel frames.
Since the sum of the internal angles of the triangles is 180 °, we can obtain:αand = =81.6 ° (180 ° -15.2 °)/2 °, that is, in this state, it is only necessary that when the wheel carrier 19 rotates in the circular groove, an included angle between its own long axis and a line connecting the centers of the two rotating wheels 28 is not less than 81.6 °, and then the turning on the 90 ° bent pipe can be completed.
In the same way, forφ500mm pipe, R =762mm, calculatedαShould be greater than 82.4 °;
for theφ550mm of tubing, R =838mm, calculatedαShould be greater than 83.2.
In the embodiment, when steering, the wheel carrier 19 close to the advancing direction in the steering assembly enters a curve firstly and rotates along the axis of the pipeline to drive the rotating wheel 28 close to the advancing direction to rotate synchronously, and the rotating wheel 28 drives the corresponding elastic element 16 to deform; the wheel frame 19 far away from the advancing direction in the steering assembly gradually enters a curve and rotates along the axis of the pipeline to drive the rotating wheel 28 far away from the advancing direction to synchronously rotate, and the rotating wheel 28 drives the corresponding elastic element 16 to deform; after passing through a curve, the elastic part 16 resets to drive the corresponding rotating wheel 28 to reset, and the wheel frame 19 is driven to reset.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
It should be noted that, in this document, terms such as "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, the term "connected" used herein may be directly connected or indirectly connected via other components without being particularly described.
Claims (8)
1. An outer pipeline detection robot is characterized by comprising an outer wall assembly and an inner wall assembly, wherein the outer wall assembly and the inner wall assembly respectively comprise a plurality of electric control adsorption devices which can be adsorbed on the outer wall of a detected pipeline; still include main shaft (25), with the drive assembly that main shaft (25) link to each other:
when the main shaft (25) rotates forwards, the transmission assembly drives the outer wall assembly to move forwards and drives the electric control adsorption device on the outer wall assembly to alternately move close to and far away from the detected pipeline;
when the main shaft (25) rotates reversely, the transmission assembly drives the inner wall assembly to advance;
the outer wall assembly comprises two claw arms (2), the claw arms (2) are arc-shaped, and the concave surfaces of the arc-shaped claws face the detected pipeline; the claw-shaped connecting rod mechanism further comprises a connecting rod (4) rotatably connected with the claw arm (2), and the connecting rod (4) is used for being connected with the transmission assembly; the electric control absorption device on the outer wall component is an outer wall electromagnet (1) hinged with the claw arm (2);
the transmission assembly comprises a gear (13) fixedly connected with the main shaft (25) and a groove cam (11) connected with the main shaft (25) through a one-way bearing (23); the rotating direction of the one-way bearing (23) is the same as the reverse rotating direction of the main shaft (25); the groove cam mechanism is characterized by further comprising two push rods (24) matched in the groove cam (11), one ends, far away from the groove cam (11), of the push rods (24) are in sliding fit in the linear sliding grooves (9), and the two push rods (24) are respectively in rotating connection with the two connecting rods (4).
2. An outer pipeline inspection robot according to claim 1, further comprising a housing (8); claw arm (2) are articulated through connecting axle (7) and shell (8), main shaft (25) are rotated with shell (8) through bearing (26) and are connected, fixed connection connecting rod axle (3) on claw arm (2), connecting rod (4) are rotated and are connected on connecting rod axle (3).
3. An outer pipeline inspection robot as claimed in claim 1, wherein the grooved cam (11) comprises a major axis and a minor axis perpendicular to each other, the grooved cam (11) being in an axisymmetric pattern along both the major axis and the minor axis; the groove of the groove cam (11) comprises large stroke sections (111) located at two ends of a long shaft and small stroke sections (112) located at two ends of a short shaft, all the large stroke sections (111) and the small stroke sections (112) are concentric arcs, and a smooth transition section (113) is arranged between the adjacent large stroke sections (111) and the small stroke sections (112).
4. An outer pipeline inspection robot according to claim 1, wherein the inner wall assembly comprises an inner ledge (17), a rack (14) mounted on the inner ledge (17) and engaged with the gear (13), and two wheel carriers (19) positioned on one side of the inner ledge (17) facing the inspected pipeline, the two wheel carriers (19) are respectively positioned at the front end and the rear end of the inner ledge (17), and a plurality of guide wheels (20) are arranged at the bottom of the wheel carriers (19); the electrically controlled absorption device on the inner wall component is an inner wall electromagnet (22) arranged on one side of the inner wall rack (17) facing the detected pipeline; and a plurality of damping springs (6) are connected between the inner wall electromagnet (22) and the inner wall frame (17).
5. An outer pipe inspection robot as claimed in claim 1, wherein the inner wall assembly comprises an inner ledge (17), two wheel carriers (19) located at the side of the inner ledge (17) facing the pipe to be inspected, a plurality of guide wheels (20) located at the bottom of the wheel carriers (19);
the steering assembly is further included; the steering assembly comprises two circular grooves respectively positioned at the front end and the rear end of the inner ledge (17) and a rotating wheel (28) positioned in the circular grooves, the rotating wheel (28) is coaxial with the circular grooves, and an annular gap (29) is formed between the rotating wheel (28) and the wall of the circular groove; a blocking piece (30) is fixed in the annular gap (29), a shifting piece (15) positioned in the annular gap (29) is arranged on the rotating wheel (28), and an elastic piece (16) positioned in the annular gap (29) is arranged between the blocking piece (30) and the shifting piece (15); the two rotating wheels (28) are respectively and fixedly connected with the two wheel carriers (19).
6. An outer pipeline inspection robot as claimed in claim 5, wherein bosses (27) are provided at both the front and rear ends of the inner ledge (17), and the circular groove is opened on the bosses (27); the blocking piece (30) and the shifting piece (15) divide the annular gap (29) into two arc-shaped grooves, elastic pieces (16) are arranged in the two arc-shaped grooves, and the elastic pieces (16) are reset springs; the rotating wheels (28) and the corresponding wheel frames (19) are respectively positioned at two sides of the inner ledge (17); when no external force is acted, the axes of the two wheel carriers (19) are parallel, and the perpendicular line between the two wheel carriers (19) is parallel to the line of the centers of the two rotating wheels (28); and the maximum angle of rotation of the wheel carrier (19) in the circular groove meets the following requirements:
α＞90°-arcsin(AB/2/R)；
wherein the content of the first and second substances,αis an included angle between the axis of the wheel frame (19) and the connecting line of the circle centers of the two rotating wheels (28); AB is the distance between the centers of the two rotating wheels (28); and R is the radius of the center of the central axis of the detected pipeline.
7. The walking method of the outer pipeline inspection robot based on any one of claims 1 to 6, wherein the outer pipeline inspection robot comprises an inner wall component, an outer wall component and a transmission component; the walking method comprises the following steps:
step S1, the electric control adsorption devices in the inner wall assembly and the outer wall assembly are electrified, and the outer pipeline detection robot is adsorbed on the outer wall of the pipeline;
step S2, powering off the electric control adsorption device in the outer wall assembly;
step S3, the motor rotates forwards to drive the main shaft (25) in the transmission assembly to rotate forwards, the main shaft (25) drives the gear (13) to rotate, and the main shaft (25) also drives the groove cam (11) to rotate under the action of the one-way bearing (23);
the gear (13) is meshed with the rack in the rotating process and moves along the rack (14) fixed in the inner wall component to drive the outer wall component to advance;
in the rotation process of the groove cam (11), firstly, a push rod (24) in the transmission assembly is driven to move from a large stroke section (111) to a small stroke section (112) of the groove, so that the push rod (24) is retracted inwards along the linear sliding groove (9), the connecting rod (4) is driven to move upwards, the claw arm is driven to move upwards, and the electric control adsorption device in the outer wall assembly is driven to be separated from the outer wall of the pipeline; then, a push rod (24) in the transmission assembly is driven to move from a small stroke section (112) to a large stroke section (111) of the groove, the push rod (24) is pushed out along the linear sliding groove (9), the connecting rod (4) is pushed to move downwards, the claw arm is driven to move downwards, and an electric control adsorption device in the outer wall assembly is driven to abut against the outer wall of the pipeline; the electric control adsorption device in the outer wall assembly is electrified again to adsorb the outer wall assembly on the outer wall of the pipeline;
step S4, after the process of step S3 is completed, the electric control adsorption device in the inner wall assembly is powered off, and the damping spring (6) in the inner wall assembly is reset, so that the electric control adsorption device in the inner wall assembly is separated from the outer wall of the pipeline;
step S5, the motor rotates reversely to drive the main shaft (25) in the transmission assembly to rotate reversely, the main shaft (25) drives the gear (13) to rotate, and the groove cam (11) does not rotate under the action of the one-way bearing (23); in the rotation process of the gear (13), the rack (14) is driven to move, and the inner wall component is driven to advance;
step S6, after the inner wall assembly advances to the right position, the electric control adsorption device in the inner wall assembly is electrified again, and the inner wall assembly is adsorbed on the outer wall of the pipeline by overcoming the resistance of the damping spring (6);
step S7, repeating the steps S2-S6.
8. The walking method of claim 7, wherein the outer pipe inspection robot comprises a steering assembly for steering;
the steering assembly comprises two circular grooves respectively positioned at the front end and the rear end of the inner ledge (17) and a rotating wheel (28) positioned in the circular grooves, the rotating wheel (28) is coaxial with the circular grooves, and an annular gap (29) is formed between the rotating wheel (28) and the wall of the circular groove; a blocking piece (30) is fixed in the annular gap (29), a shifting piece (15) positioned in the annular gap (29) is arranged on the rotating wheel (28), and an elastic piece (16) positioned in the annular gap (29) is arranged between the blocking piece (30) and the shifting piece (15); the two rotating wheels (28) are respectively and fixedly connected with the two wheel carriers (19); the maximum angle of rotation of the wheel carrier (19) in the circular groove satisfies the following conditions:
α＞90°-arcsin(AB/2/R)；
wherein the content of the first and second substances,αis an included angle between the axis of the wheel frame (19) and the connecting line of the circle centers of the two rotating wheels (28); AB is the distance between the centers of the two rotating wheels (28); r is the radius of the center of a central circle of the bend of the pipeline to be detected;
the steering method comprises the following steps:
the wheel carrier (19) close to the advancing direction in the steering assembly enters a curve firstly and rotates along the axis of the pipeline to drive the rotating wheel (28) close to the advancing direction to rotate synchronously, and the rotating wheel (28) drives the corresponding elastic part (16) to deform;
the wheel carrier (19) far away from the advancing direction in the steering assembly gradually enters a curve and rotates along the axis of the pipeline to drive the rotating wheel (28) far away from the advancing direction to synchronously rotate, and the rotating wheel (28) drives the corresponding elastic piece (16) to deform;
when the whole device completely passes through a curve, the elastic piece (16) drives the corresponding rotating wheel (28) to reset, and drives the wheel carrier (19) to reset.
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| CN114593309B (en) * | 2022-05-10 | 2022-07-12 | 西南石油大学 | Walking turns to structure and because pipeline robot of this structure |
| CN115126811B (en) * | 2022-07-13 | 2023-12-12 | 盐城工学院 | Shock absorber capable of generating electricity |
| CN116381061B (en) * | 2023-05-29 | 2023-08-15 | 天津大学 | Hydrogen pipeline internal crack detection equipment |
| CN117182974B (en) * | 2023-11-03 | 2024-01-05 | 广东海洋大学 | Positioning fastener of underwater pipeline detection robot |
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