CN113483197A - Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device - Google Patents
Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device Download PDFInfo
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- CN113483197A CN113483197A CN202110735652.XA CN202110735652A CN113483197A CN 113483197 A CN113483197 A CN 113483197A CN 202110735652 A CN202110735652 A CN 202110735652A CN 113483197 A CN113483197 A CN 113483197A
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- 230000009193 crawling Effects 0.000 title claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 13
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- 230000008859 change Effects 0.000 abstract description 9
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- 238000005260 corrosion Methods 0.000 abstract description 2
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- 230000006978 adaptation Effects 0.000 abstract 1
- 238000005096 rolling process Methods 0.000 description 13
- 238000005452 bending Methods 0.000 description 8
- 230000000712 assembly Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 6
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- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
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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
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The utility model provides a many driving wheel of self-adaptation reducing pipeline device of crawling, includes flexible skeleton, a plurality of roll supporting component that distribute around the axis of flexible skeleton, and flange dish and back flange dish before flexible skeleton passes through linear actuating mechanism and connects, and its technical essential is: the telescopic framework is provided with a compressible variable-diameter connecting rod assembly consisting of a first hinge joint, a second hinge joint and a third hinge joint; the third hinge joint point is provided with a fourth hinge point and a first supporting point which simultaneously swing around the third hinge point; and a second supporting point and a third supporting point which simultaneously swing around the fourth hinge point are arranged on the fourth hinge point. But the automatic adaptation pipeline internal diameter changes, to the adjustable change that realizes drive power of pipeline inner wall pressure, adopts a plurality of in-wheel motor direct drive, and drive efficiency is high, walking speed is fast, be used for detecting in the pipeline, can carry on multiple detection sensor, professional camera, realizes that pipeline deformation, surface corrosion detect.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a self-adaptive variable-diameter multi-driving-wheel pipeline crawling device which is mainly suitable for in-pipeline detection.
Background
The pipeline is called as the national energy aorta and has important significance for guaranteeing national energy supply. As the service of the pipeline is aged, various defects can appear in the pipeline due to the action of corrosion and stress. Therefore, the pipeline needs to be regularly and effectively detected, and defects are timely eliminated, so that the occurrence of pipeline breakage accidents is reduced. The existing pipeline robot reducing structure mostly adopts a parallelogram structure, the reducing range is small, the reducing mode is relatively stiff and inflexible, and individual driving wheels are possibly suspended during bending so as to reduce the driving capability.
The technical scheme disclosed by the patent application realizes diameter change by retracting or pushing the whole of a driving wheel assembly to an axis, but obviously only can be used for the linear diameter-variable pipeline, and cannot realize flexible over-bending action.
In order to realize the over-bending in the pipeline, the invention patent application of the application publication No. CN105318141A discloses a miniature spiral pipeline robot, the technical scheme is that the over-bending is realized by a plurality of movable joint structures which are hinged and connected in series and are respectively provided with rotatable flange plates at two ends and the purpose of the over-bending is realized by the staggered support among all pulley blocks during the over-bending.
The utility model discloses a "turn to controllable reducing pipe robot" as application publication No. CN206637183U, thereby it realizes "crossing the curved" action through the bending of snakelike mechanism realization arbitrary angle.
The technical scheme of the differential supporting wheel type pipeline robot disclosed in the invention patent application with the application publication number of CN112066155A and the pipeline robot and the pipeline detection system disclosed in the invention patent application with the application publication number of CN109140112A can realize diameter change through motor driving to a certain extent, but aiming at the complex pipe wall situation in a pipeline, the diameter change adjustment can be realized only by matching with a control system with higher precision, the self-adaption cannot be realized, and the control difficulty, the failure rate and the manufacturing cost are obviously increased when the number of parts is increased.
Disclosure of Invention
The invention aims to provide a self-adaptive reducing multi-driving-wheel type pipeline crawling device, which solves the problems that the existing pipeline robot needs to adapt to the change of the pipe diameter, the existing reducing structure symmetric reducing mode is stiff and inflexible, and individual driving wheels are suspended when passing through a bent pipe, and improves the adaptability of the robot to the diameter of the pipeline and the driving capability of the robot.
In order to achieve the purpose, the invention provides the following technical scheme: this many driving wheel of self-adaptation reducing pipeline device of crawling includes flexible skeleton, a plurality of roll supporting component that distribute around the axis of flexible skeleton, and flange dish and back flange dish before flexible skeleton passes through linear actuating mechanism and connects, and its technical essential is:
the telescopic framework is provided with a compressible variable-diameter connecting rod assembly consisting of a first hinge joint, a second hinge joint and a third hinge joint;
the third hinge joint point is provided with a fourth hinge point and a first supporting point which simultaneously swing around the third hinge point;
a second supporting point and a third supporting point which simultaneously swing around the fourth hinge point are arranged on the fourth hinge point;
the first to fourth hinge points and the first to third support points are all located on the same movable plane.
Furthermore, the linear driving mechanism is a lead screw for outputting torque through a motor and a sliding nut matched with the lead screw, and the first or second hinge point is positioned on the sliding nut.
Furthermore, a mileage recording component is arranged on the rear flange plate.
The invention has the advantages and beneficial effects that: on the whole technical scheme, through many pin joints and many strong points's cooperation, realize that each strong point supports on the pipeline inner wall completely to through set up mutually independent drive wheel assembly on each strong point, effectively improved the adaptability of robot to the reducing pipeline, and the adhesion force and the support stability to pipeline inner wall among the driving process. In the concrete structure, through the force sensor installed by the screw nut, the multi-degree-of-freedom support arm is circumferentially distributed on the circumference of the reducing mechanism, and the two-stage support arm with a plurality of degrees of freedom is arranged, so that the suspension condition of a driving wheel is effectively avoided, and the change and the reducing of the driving force can be realized by adjusting the pressure of the inner wall of the pipeline.
In order to solve the problem that the diameter changing mode of the symmetrical structure is stiff and inflexible, the diameter changing of the whole mechanism can be realized through a single motor by arranging an extensible diameter changing connecting rod mechanism, and the self-adaptive support is realized through the unpowered matching of a primary support arm and a secondary support arm.
In order to solve the problem that individual driving wheels are suspended when the elbow is crossed, the rolling supporting components can realize independent support of supporting points of the driving wheels in a wider radian range by arranging three independent driving wheels with two hinged points.
Drawings
Fig. 1 is a schematic isometric side view of the present invention.
Fig. 2 is a schematic view of the front view structure of the present invention.
FIG. 3 is a diagram of a support arm of an apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic view of the usage state of the present invention.
Fig. 5 is a schematic diagram of the working principle of the present invention.
Fig. 6 is a schematic view of another use state of the present invention.
Description of reference numerals:
1 Telescopic framework
11 front flange plates, 12 rear flange plates, 13 motors, 14 lead screws, 15 sliding nuts, 16 reducing connecting rod assemblies and 17 middle shafts
2 rolling support assembly
21 a first hinge point, 22 a second hinge point, 23 a third hinge point, 24 a fourth hinge point, 25 a primary arm, 26 a secondary arm, 27 a driving wheel
271 first supporting point, 272 second supporting point, 273 third supporting point
3 mileage record subassembly
4 inner wall of the pipeline.
Detailed Description
The present invention will be described in detail with reference to the following embodiments with reference to fig. 1 to 6.
Example 1
As shown in fig. 1 to 4, the adaptive variable-diameter multi-driving-wheel pipeline crawling device includes a telescopic framework 1, and a plurality of rolling support assemblies 2 (six examples are described in this embodiment) distributed around a central axis 17 of the telescopic framework, wherein the telescopic framework 1 is connected with a front flange 11 and a rear flange 12 through a linear driving mechanism.
The motor 13 is fixed in the rear flange 12 through a motor base (not marked), the output end of the motor 13 is connected with one end of a screw rod 14, the other end of the screw rod 14 is limited in the front flange 11 through a bearing seat (not marked), and the screw rod 14 is provided with a sliding nut 15 in a matching manner. The reducing connecting rod assembly 16 mainly comprises a pair of connecting rods, the middle parts of the connecting rods are hinged to form a third hinged point 23, and the reducing connecting rod assembly 16 is hinged between the front flange plate 11 and the sliding nut 15, so that the third hinged point 23 can translate when the motor 13 drives the screw 14 to drive the sliding nut 15 to move, and the diameter reducing or expanding change of the whole mechanism is achieved. And a pressure sensor (not marked in the drawing) is arranged between the sliding nut 15 and the reducing connecting rod assembly 16 and is used for adjusting the pressure of the support arm on the inner wall of the pipeline, and the driving force of the crawling device is increased or reduced by adjusting the wall pressing force because the friction coefficient between the driving wheel and the surface of the pipeline is constant.
It should be understood by those skilled in the art that, under the premise of the present invention, the motor indirectly realizes the linear motion of the nut through the output torque, and for the combination of the technical features, there are many equivalent alternatives in the common general knowledge, for example, a push rod motor or the like through outputting reciprocating linear power, as long as the slide nut can be driven to be close to or far from the front flange, and the technical problems and technical effects solved by the invention are basically the same, and should be considered as equivalent technical solutions. For the installation position of the motor, the same function can be realized no matter the motor is installed on the front flange or the rear flange, and the position of the corresponding bearing seat or the motor seat is adjusted, and the motor installation position is also regarded as an equivalent technical scheme.
The rolling support assembly 2 comprises a primary support arm 20 hinged on a third hinge point 23 of the reducing connecting rod assembly 16, a driving wheel positioned on a first support point is arranged at the front end of the primary support arm 20, a secondary support arm 26 positioned on a fourth hinge point 24 is arranged at the rear end of the primary support arm 20, and driving wheels are respectively arranged on a second support point 272 and a third support point 273 of the secondary support arm 26. Each drive wheel 27 is powered by a separate wheel hub drive motor (not shown).
In order to conveniently record the traveling mileage and the positioning of the robot, the mileage recording component 3 is installed at the bottom of the rear flange 12 through the base, the roller 10 rolls due to the friction with the inner wall of the pipeline, the number of rotating circles of the roller is recorded by the angular displacement sensor in the mileage recording module, the traveling mileage of the robot in the pipeline can be obtained through calculation, and the abnormal position of the pipeline is recorded, stored and fed back to a user.
The mileage record subassembly 3 passes through the pedestal mounting and at the back ring flange 3 of robot, and mileage record subassembly 3's gyro wheel (the reference numeral is not marked) adopts multiple tooth structure in order to improve the frictional force between the pipeline inner wall, and the interior angular displacement sensor record gyro wheel pivoted number of turns of mileage record subassembly can obtain the mileage that the robot marchd in the pipeline through the calculation, feeds back to the user with pipeline abnormal position record storage. The conversion of the angle into the travel distance according to the radius is a conventional technical means in the field, and the detailed description is omitted.
It will be appreciated by those skilled in the art that the number of rolling support assemblies should be kept above three to ensure that a stable support structure is formed within the duct, and six support assemblies are exemplified in the embodiments. On the premise that the arrangement space and the structural strength are allowed, the technicians in the field are motivated to increase and decrease the number of the devices to achieve the best use effect in order to meet the actual requirements.
Different from the conventional wheeled robot which is in a suspended state with individual driving wheels possibly existing during the process of bending, the supporting arm is provided with a plurality of degrees of freedom through two stages of supporting arms through hinged connection, after the driving wheel 27 is in contact with the pipe wall, whether the diameter reducing or expanding operation of the motor 13 is needed or not is judged through a pressure sensor to achieve 'one-stage diameter reducing', the one-stage supporting arm 25 can rotate around the third hinged point 23 under the action of force as a whole, and the second-stage supporting arm 26 rotates around the fourth hinged point 24 as a whole, so that the three driving wheels on each rolling supporting component 2 can be in contact with the inner wall 4 of the pipeline no matter whether a straight pipe section or a bent pipe is adopted, self-adaptive 'two-stage diameter reducing' is achieved, and the supporting stability and the driving capability of the robot body are guaranteed.
Certainly, for the convenience is patrolled and examined, still can further expand the function of robot, for example, set up subassembly such as camera, light source in the front on the flange for the state of real-time observation pipeline inner wall is convenient for in time change the pipeline subassembly that corresponds, thereby avoids the production accident.
Example 2
As shown in fig. 5 to 6, the present embodiment is a schematic view of the working principle of each rolling support assembly of the present invention. The self-adaptive reducing multi-driving-wheel type pipeline crawling device comprises a telescopic framework 1 and a plurality of rolling support assemblies 2 (six examples are used for explanation in the embodiment) distributed around a middle shaft 17 of the telescopic framework, wherein the rolling support assemblies 2 are positioned on planes which are not interfered with each other, the planes are parallel to the middle shaft 17, the telescopic framework is connected with a front flange plate 11 and a rear flange plate 12 through a linear driving mechanism, and a compressible reducing connecting rod assembly 16 is formed by first to third hinged points 21, 22 and 23 on the telescopic framework. By compressible it is meant that the triangular structure formed by the first to third hinge points 21, 22, 23 is highly compressible, i.e. the third hinge point 23 can be pushed towards or away from the centre axis 17 of the telescopic frame. During compression or extension, the first hinge point 21 and the second hinge point 22 translate in the direction of the central axis (as indicated by the arrows in fig. 5).
Specifically, the third hinge point 23 is connected to the first hinge point 21 and the second hinge point 22 by two links (illustrated as links having the same length in fig. 5). The first hinge point 21 is swingably hinged to the front flange 11, and the second hinge point 22 is swingably hinged to the rear flange 12, so that when the telescopic frame 1 is extended or contracted by the drive of the linear driving mechanism, the third hinge point 23 is translated toward or away from the central axis of the telescopic frame 1. When links with different lengths are used, the plane of the translation locus of the third hinge point 23 is more deviated to one side of the short link, and the translation range is reduced relative to the equal length link, so the equal length link is usually used.
The third hinge point 23 is provided with a fourth hinge point 24 and a first support point 271 which swing around the third hinge point 23 at the same time, specifically, the fourth hinge point 24 and the first support point 271 are located on the first-stage support arm 25, the first-stage support arm 25 is in a folded angle shape, the fourth hinge point 24 and the first support point 271 are respectively arranged on two end points of the first-stage support arm, and the vertex of the folded angle shape is the third hinge point 23.
The fourth hinge point 24 is provided with a second support point 272 and a third support point 273 which swing around the fourth hinge point 24 at the same time, specifically, the second support point 272 and the third support point 273 are located on the secondary arm 26, the secondary arm 26 is in an elbow shape, the second support point 272 and the third support point 273 are respectively arranged on two end points of the second support arm, and the vertex of the elbow shape is the fourth hinge point 24.
The hinge points and the support points are located on the same movable plane, so that the primary arm 25 and the secondary arm 26 can swing in the movable plane. When the robot runs in the pipeline, when the arc formed by the first to third supporting points 271, 272 and 273 is fit with the arc of the corresponding tangent plane of the inner wall 4 of the pipeline, each rolling supporting component 2 is completely supported on the inner wall of the pipeline. In practical application, the inner wall of the pipeline is not streamline due to abrasion, and the moving planes of the rolling support components 2 are relatively independent, so that the rolling support which is completely attached to the inner wall 4 of the pipeline with different positions and different radians can be realized on the premise of not influencing each other. As shown in fig. 6, is one of the relative extreme positions of the rolling support assembly 2. When selecting for use the one-level support arm or/and the second grade support arm that have suitable size, under the prerequisite of avoiding support arm and telescopic frame to interfere, can realize the self-adaptation change of arbitrary multi-angle almost.
Claims (3)
1. The utility model provides a many driving wheel of self-adaptation reducing wheel formula pipeline device of crawling, includes flexible skeleton, a plurality of roll supporting component that distribute around the axis of flexible skeleton, flange dish and back flange dish before flexible skeleton passes through linear actuating mechanism and connects, its characterized in that:
the telescopic framework is provided with a compressible variable-diameter connecting rod assembly consisting of a first hinge joint, a second hinge joint and a third hinge joint;
the third hinge joint point is provided with a fourth hinge point and a first supporting point which simultaneously swing around the third hinge point;
a second supporting point and a third supporting point which simultaneously swing around the fourth hinge point are arranged on the fourth hinge point;
the first to fourth hinge points and the first to third support points are all located on the same movable plane.
2. The adaptive reducing multi-driving wheel type pipeline crawling device according to claim 1, wherein: the linear driving mechanism is a lead screw for outputting torque through a motor and a sliding nut matched with the lead screw, and the first or second hinge point is positioned on the sliding nut.
3. The adaptive reducing multi-driving wheel type pipeline crawling device according to claim 1 or 2, wherein: and the rear flange plate is provided with a mileage recording component.
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| CN202110735652.XA CN113483197A (en) | 2021-06-30 | 2021-06-30 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
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| CN202110735652.XA CN113483197A (en) | 2021-06-30 | 2021-06-30 | Self-adaptive variable-diameter multi-driving-wheel type pipeline crawling device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116399366A (en) * | 2023-06-08 | 2023-07-07 | 国机传感科技有限公司 | Mileage measuring device and method for in-pipeline detector based on photoelectric sensor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115055459A (en) * | 2022-06-15 | 2022-09-16 | 国机传感科技有限公司 | Novel difunctional pipeline cleaner |
| CN116399366A (en) * | 2023-06-08 | 2023-07-07 | 国机传感科技有限公司 | Mileage measuring device and method for in-pipeline detector based on photoelectric sensor |
| CN116399366B (en) * | 2023-06-08 | 2023-08-08 | 国机传感科技有限公司 | Mileage measuring device and method for in-pipeline detector based on photoelectric sensor |
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