CN113483194A - Pipeline crawling device - Google Patents
Pipeline crawling device Download PDFInfo
- Publication number
- CN113483194A CN113483194A CN202110674411.9A CN202110674411A CN113483194A CN 113483194 A CN113483194 A CN 113483194A CN 202110674411 A CN202110674411 A CN 202110674411A CN 113483194 A CN113483194 A CN 113483194A
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- China
- Prior art keywords
- driving
- driving body
- push rod
- connecting rod
- pipeline
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The invention discloses a pipeline crawling device, which comprises: the driving body is provided with a push rod which can extend or retract relative to the driving body, and the push rod is provided with a connecting rod; the upper driving device is connected with the driving body through a middle hinge shaft, and two ends of the upper crossed reducing connecting rod are respectively connected with the upper driving device and the driving body and can slide along the upper driving device and the driving body; the lower driving device is characterized in that a pair of lower crossed reducing connecting rods connected through a middle hinge shaft is arranged between the lower driving device and the driving body, two ends of each lower crossed reducing connecting rod are respectively connected with the lower driving device and the driving body and can move along the lower driving device and the driving body, the upper end and the lower end of each connecting rod are respectively connected with the upper crossed reducing connecting rod and the lower crossed reducing connecting rod, and the extension or retraction of the push rod drives the upper crossed reducing connecting rods and the lower crossed reducing connecting rods through the connecting rods to enable the upper driving device and the lower driving device to contract towards the driving body or extend away from the driving body.
Description
Technical Field
The invention belongs to the technical field of pipeline machines, and particularly relates to a pipeline crawling device.
Background
Because in actual work, various pipelines have various working conditions of bending angles, reducing, or horizontal or vertical arrangement modes, when cracks, corrosion or foreign matters exist in the pipelines, in order to find out the specific conditions in the pipelines, the pipeline crawling device needs to be adopted to enter the pipelines, detailed evaluation is carried out on the conditions in the pipelines through the video equipment and the like carried above, and then how to realize the next repair work of the interiors of the pipelines is determined.
However, in the process of crawling inside the pipeline in the pipeline crawling device, because the pipeline may have continuous diameter changes, the pipeline crawling device is required to have the capability of height change to adapt to the change of the inner diameter of the pipeline, and meanwhile, the walking wheel arranged on the pipeline crawling device is required to keep a certain positive pressure on the inner wall of the pipeline all the time, so that the pipeline crawling device can be guaranteed to have enough driving force.
In view of the above, it is necessary to provide a pipeline crawling device capable of adapting to the diameter change of the pipeline.
Disclosure of Invention
The invention aims to: the pipeline crawling device overcomes the defects of the prior art and is adaptable to pipeline diameter change.
In order to achieve the above object, the present invention provides a pipe crawling apparatus, comprising:
the driving body is provided with a push rod which can extend or retract relative to the driving body, and the push rod is provided with a connecting rod;
the upper driving device is arranged above the driving body, a pair of upper crossed reducing connecting rods connected through a middle hinged shaft is arranged between the upper driving device and the driving body, and two ends of each upper crossed reducing connecting rod are respectively connected to the upper driving device and the driving body and can slide along the upper driving device and the driving body; and
the lower driving device is arranged below the driving body, a pair of lower crossed reducing connecting rods connected through a middle hinge shaft are arranged between the lower driving device and the driving body, and two ends of each lower crossed reducing connecting rod are respectively connected with the lower driving device and the driving body and can slide along the lower driving device and the driving body;
the upper end and the lower end of the connecting rod are respectively connected with one of the upper crossed reducing connecting rod and the lower crossed reducing connecting rod, and the extension or retraction of the push rod drives the upper crossed reducing connecting rod and the lower crossed reducing connecting rod through the connecting rod to enable the upper driving device and the lower driving device to contract towards the driving body or extend away from the driving body.
As an improvement of the pipeline crawling device, auxiliary supporting mechanisms are arranged on two sides of the driving body.
As an improvement of the pipeline crawling device, the auxiliary supporting mechanism comprises a semicircular supporting frame arranged on the driving body and an auxiliary wheel positioned at the arc top end of the semicircular supporting frame.
As an improvement of the pipe crawling device of the present invention, auxiliary support wheels are provided on both sides of the upper driving device and the lower driving device.
As an improvement of the pipeline crawling device, the upper driving device and the lower driving device comprise bodies and front and rear traveling wheels arranged at the front end and the rear end of each body, and the front and rear traveling wheels are connected through chains to rotate synchronously.
As an improvement of the pipeline crawling device, a camera is arranged at the front end of the driving body.
As an improvement of the pipeline crawling device, the push rod is an electric push rod or a pneumatic push rod.
As an improvement of the pipeline crawling device, one end of the push rod is fixedly arranged on the driving body through a mounting plate, the other end of the push rod is provided with a tension and pressure sensor, and a disc spring is arranged between the tension and pressure sensor and the connecting rod.
As an improvement of the pipeline crawling device, the tail end of the push rod is provided with a locking nut to prevent the pull pressure sensor and the disc spring from falling off.
As an improvement of the pipeline crawling device of the present invention, the connecting rod is provided with a convex block and a concave part, the disc spring is located in the concave part, and the free end of the disc spring abuts against the convex block.
As an improvement of the pipe crawling device of the present invention, the pulling pressure sensor detects the pressure of the inner wall of the pipe to the up-down driving device and adjusts the extension or retraction of the push rod.
Compared with the prior art, the pipeline crawling device has the following advantages:
the driving body of the pipeline crawling device is respectively provided with a group of cross reducing connecting rods at the upper part and the lower part, the middle of each group of cross reducing connecting rods is hinged into a scissor-type structure, the push rod is placed in the middle of the driving body, the bottom end of the push rod is fixed on the driving body, the other end of the push rod is connected with the connecting rods through the disc springs and the tension pressure sensors, when the push rod extends or retracts, the movable ends of the cross reducing connecting rods can be driven to slide, finally, the height change of the whole pipeline crawling device is realized, and the pipeline crawling device is adaptive to the change of pipe diameters.
Drawings
The pipe crawling apparatus of the present invention will be described in detail with reference to the accompanying drawings and the following detailed description, wherein:
fig. 1 is a schematic structural view of a pipe crawling apparatus according to the present invention.
Fig. 2 is a schematic structural view of a driving body of the pipe-crawling apparatus of the present invention.
Fig. 3 is a schematic structural view of a push rod of the pipe crawling device of the present invention.
Fig. 4 is a schematic structural view of an auxiliary support mechanism of the pipe-crawling apparatus of the present invention.
Fig. 5 is a schematic structural view of a driving apparatus of the pipe-crawling apparatus of the present invention.
In the figure:
10- -drive body; 100- -a push rod; 102- -connecting rod; 104- -auxiliary support mechanism; 106-a support frame; 108- -steel ball; 110- -a mounting plate; 112- -pull pressure sensor; 114-disc spring; 116- -a recess; 118- -a bump; 120- -locking nut;
20- -upper driving device; 200-upper cross reducing connecting rod; 202- -a body; 204- -front road wheels; 206- -rear road wheels; 208- -a chain; 210-a tensioner; 212- -auxiliary support wheels;
30- -lower driving device; 300- -lower cross reducing connecting rod;
40- -Camera.
Detailed Description
In order to make the objects, technical solutions and technical effects of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 5, the present invention provides a pipeline crawling apparatus, which includes:
a driving body 10 provided with a push rod 100 which can extend or retract relative to the driving body 10, the push rod 100 being provided with a connecting rod 102;
the upper driving device 20 is arranged above the driving body 10, a pair of upper crossed reducing connecting rods 200 connected through a middle hinge shaft is arranged between the upper driving device 20 and the driving body 10, and two ends of each upper crossed reducing connecting rod 200 are respectively connected to the upper driving device 20 and the driving body 10 and can slide along the upper driving device 20 and the driving body 10; and
the lower driving device 30 is arranged below the driving body 10, a pair of lower cross reducing connecting rods 300 connected through a middle hinge shaft is arranged between the lower driving device 30 and the driving body 10, and two ends of each lower cross reducing connecting rod 300 are respectively connected with the lower driving device 30 and the driving body 10 and can slide along the lower driving device 30 and the driving body 10;
the upper end and the lower end of the connecting rod 102 are respectively connected with one of the upper and lower crossed reducing connecting rods 200 and 300, and the extension or retraction of the push rod 100 drives the upper and lower crossed reducing connecting rods 200 and 300 through the connecting rod 102 to enable the upper and lower driving devices 20 and 30 to contract towards the driving body 10 or to extend away from the driving body 10.
Referring to fig. 1 to 3, the push rod 100 may be an electric push rod or a pneumatic push rod, one end of the push rod 100 is fixedly mounted on the driving body 10 through a mounting plate 110, the other end of the push rod 100 is provided with a tension and pressure sensor 112, and a disc spring 114 is disposed between the tension and pressure sensor and the connecting rod 102. In order to prevent the tension/pressure sensor 112 and the disc spring 114 from falling off, the end of the push rod 100 is provided with a lock nut 120. In the illustrated embodiment, the linkage 102 is provided with a projection 118 and a recess 116, the disc spring 114 being located in the recess 116, the free end of the disc spring 114 abutting against the projection 118. When the push rod 100 retracts, the connecting rod 102 can be moved to the right by pressing the disc spring 114, and finally the road wheels 204 and 206 on the driving devices 20 and 30 are pressed on the inner wall of the pipeline through the reducing connecting rods 200 and 300.
In the walking process of the pipeline crawling device, the length of the push rod 100 is adjusted by detecting the force generated by the inner wall of the pipeline on the counter-pulling pressure sensor 112 after the driving devices 20 and 30 are pressed, so that the walking wheels 204 and 206 on the driving devices 20 and 30 can be always pressed on the inner wall of the pipeline. When the pipeline crawling device runs in the pipeline and meets a welding seam with lower height in the pipeline or a smaller bulge in the pipeline, the pipeline crawling device can quickly pass through the smaller obstacles through the compression of the disc spring 114 without adjusting the length of the push rod 100, and the running efficiency is improved.
Referring to fig. 4, the driving body 10 is provided with auxiliary supporting mechanisms 104 at two sides thereof, each auxiliary supporting mechanism 104 includes a semicircular supporting frame 106 and an auxiliary wheel, and a steel ball 108 capable of rolling smoothly is disposed at the top end of the auxiliary wheel. When the pipeline crawling device crawls in the pipeline, the auxiliary supporting mechanism 104 can effectively prevent the corners and the like in the pipeline crawling device from scratching the inner wall of the pipeline. In addition, when the pipeline crawls the device and breaks down in the pipeline, at the in-process that drags the pipeline crawl device back, the auxiliary wheel can slide at the pipeline inner wall, effectively reduces the pipeline and crawls the frictional force that the device drags back, is favorable to dragging out the pipeline with the pipeline crawl device is whole fast.
Since the upper driving device 20 and the lower driving device 20 have substantially the same structure, only the upper driving device 20 is described as an example in this specification. Referring to fig. 5 in particular, the upper driving device 20 includes a body 202, a front traveling wheel 204 and a rear traveling wheel 206 disposed at the front and rear ends of the body 202, wherein the front traveling wheel 204 and the rear traveling wheel 206 are connected by a chain 208 and rotate synchronously, and the tightness of the chain is adjusted by a tension wheel 210. In addition, the auxiliary supporting wheels 212 are arranged on two sides of the upper driving device 20, and when the pipeline crawling device walks in a pipeline, the auxiliary supporting wheels 112 can prevent the pipeline crawling device from colliding with the inner wall of the pipeline, so that the inner wall of the pipeline or the pipeline crawling device is damaged.
Referring to fig. 1, according to an embodiment of the present invention, a camera 40 is disposed at a front end of the driving body 10.
As can be seen from the above detailed description of the embodiments of the present invention, the pipe-crawling apparatus of the present invention has the following advantages over the prior art:
the driving body 10 of the pipeline crawling device is respectively provided with a group of cross reducing connecting rods 200 and 300 at the upper part and the lower part, the middle of each group of cross reducing connecting rods 200 and 300 is hinged into a scissor-type structure, the push rod 100 is placed in the middle of the driving body 10, the bottom end of the push rod 10 is fixed on the driving body 10, the other end of the push rod is connected with the connecting rod 102 through the disc spring 114 and the tension pressure sensor 112, when the push rod 100 extends or retracts, the movable ends of the cross reducing connecting rods 200 and 300 can be driven to slide, finally, the height change of the whole pipeline crawling device is realized, and the pipeline crawling device is suitable for the pipe diameter change.
The present invention can be modified and adapted appropriately from the above-described embodiments, according to the principles described above. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.
Claims (11)
1. A pipeline crawling device, comprising:
the driving body is provided with a push rod which can extend or retract relative to the driving body, and the push rod is provided with a connecting rod;
the upper driving device is arranged above the driving body, a pair of upper crossed reducing connecting rods connected through a middle hinged shaft is arranged between the upper driving device and the driving body, and two ends of each upper crossed reducing connecting rod are respectively connected to the upper driving device and the driving body and can slide along the upper driving device and the driving body; and
the lower driving device is arranged below the driving body, a pair of lower crossed reducing connecting rods connected through a middle hinge shaft are arranged between the lower driving device and the driving body, and two ends of each lower crossed reducing connecting rod are respectively connected with the lower driving device and the driving body and can slide along the lower driving device and the driving body;
the upper end and the lower end of the connecting rod are respectively connected with one of the upper crossed reducing connecting rod and the lower crossed reducing connecting rod, and the extension or the retraction of the push rod drives the upper crossed reducing connecting rod and the lower crossed reducing connecting rod through the connecting rods, so that the upper driving device and the lower driving device contract towards the driving body or stretch away from the driving body.
2. The apparatus according to claim 1, wherein auxiliary supporting means are provided at both sides of the driving body.
3. The device of claim 2, wherein the auxiliary support mechanism comprises a semi-circular support frame mounted on the driving body and an auxiliary wheel positioned at the arc top end of the semi-circular support frame.
4. The pipeline crawling apparatus of claim 1, wherein auxiliary support wheels are provided on both sides of the upper and lower driving means.
5. The device of claim 4, wherein the upper and lower driving devices comprise a body, and front and rear traveling wheels disposed at front and rear ends of the body, the front and rear traveling wheels being connected by a chain to rotate synchronously.
6. The apparatus for crawling pipeline as claimed in claim 1, wherein a camera is provided at the front end of said driving body.
7. The device of claim 1, wherein said push rod is an electric push rod or a pneumatic push rod.
8. The device of any one of claims 1 to 7, wherein one end of the push rod is fixedly mounted on the driving body through a mounting plate, and the other end of the push rod is provided with a tension and pressure sensor, and a disc spring is arranged between the tension and pressure sensor and the connecting rod.
9. The apparatus for crawling pipe as claimed in claim 8, wherein said push rod is provided with a locking nut at its end to prevent said pressure sensor and said disc spring from falling off.
10. The device of claim 8, wherein the linkage is provided with a projection and a recess, the disc spring being located in the recess, the free end of the disc spring abutting against the projection.
11. The apparatus for crawling in pipeline as claimed in claim 8, wherein said pull pressure sensor detects the pressure of the inner wall of the pipeline to the up-down driving means and adjusts the extension or retraction of the push rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110674411.9A CN113483194A (en) | 2021-06-17 | 2021-06-17 | Pipeline crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110674411.9A CN113483194A (en) | 2021-06-17 | 2021-06-17 | Pipeline crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113483194A true CN113483194A (en) | 2021-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110674411.9A Pending CN113483194A (en) | 2021-06-17 | 2021-06-17 | Pipeline crawling device |
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| Country | Link |
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| CN (1) | CN113483194A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150240984A1 (en) * | 2014-02-21 | 2015-08-27 | Siemens Energy, Inc. | Pipe crawler apparatus and method for internal pipe inspection |
| CN210034775U (en) * | 2019-04-19 | 2020-02-07 | 北京理工大学珠海学院 | Pipeline crawler |
| CN210212041U (en) * | 2019-07-03 | 2020-03-31 | 武汉固德科技有限公司 | Pipeline inspection robot drive arrangement of crawling |
| CN112283498A (en) * | 2020-12-16 | 2021-01-29 | 阳泉煤业（集团）股份有限公司 | Pipe diameter adapting mechanism of variable-diameter pipeline robot |
| CN212929186U (en) * | 2020-07-06 | 2021-04-09 | 上海智得自动化工程有限公司 | Driving device of pneumatic pipeline crawling operation mechanism |
-
2021
- 2021-06-17 CN CN202110674411.9A patent/CN113483194A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150240984A1 (en) * | 2014-02-21 | 2015-08-27 | Siemens Energy, Inc. | Pipe crawler apparatus and method for internal pipe inspection |
| CN210034775U (en) * | 2019-04-19 | 2020-02-07 | 北京理工大学珠海学院 | Pipeline crawler |
| CN210212041U (en) * | 2019-07-03 | 2020-03-31 | 武汉固德科技有限公司 | Pipeline inspection robot drive arrangement of crawling |
| CN212929186U (en) * | 2020-07-06 | 2021-04-09 | 上海智得自动化工程有限公司 | Driving device of pneumatic pipeline crawling operation mechanism |
| CN112283498A (en) * | 2020-12-16 | 2021-01-29 | 阳泉煤业（集团）股份有限公司 | Pipe diameter adapting mechanism of variable-diameter pipeline robot |
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