CN1635296A - Crawling conduit creeper - Google Patents
Crawling conduit creeper Download PDFInfo
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- CN1635296A CN1635296A CN 200310120880 CN200310120880A CN1635296A CN 1635296 A CN1635296 A CN 1635296A CN 200310120880 CN200310120880 CN 200310120880 CN 200310120880 A CN200310120880 A CN 200310120880A CN 1635296 A CN1635296 A CN 1635296A
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Abstract
This invention relates to creeping pipe mover in micro robot field, which comprises drive elements, control element, and supportive legs and adopts single motor drive, wherein the control element comprises three end protruding wheels, roller part and levers; the supportive legs comprises back supportive legs and front supportive legs; the mover has each roller set on front and back parts. The drive motor comprises three sets of screws fixed on the installation panel and the motor output axis is connected with planet retarder with its output axis located with middle and back end protruding wheels.
Description
Technical field creeping type pipe crawling device of the present invention belongs to the micro robot field, is used for creeping in pipeline, detecting.
The background technique pipeline is one of contemporary important material means of delivery, and a large amount of uses is all arranged in modern industry, agricultural and civilian installation.Petroleum pipeline, gas pipe line, power plant's pipeline, plumbing pipe etc. are crisscross, extend in all direction.Pipeline in use because the influence of various factors causes various faults and damage through regular meeting at pipe interior.If untimelyly pipe interior is detected, safeguards pipeline just may have an accident, cause unnecessary waste and loss.But because the pipe interior space is narrow, pipeline is complicated, add that the material of carrying in the pipe may have dangerous situations such as corrosivity, inflammable and explosive property, so pipe interior is carried out artificial detection and maintenance has certain degree of difficulty, be impossible fully in some cases.
Summary of the invention the present invention seeks to invent a kind of creeping type pipe crawling device, and it can do to advance in the pipeline at any angle of inclination of little caliber freely, backward movement, especially can overcome own wt and vertically creep in vertical pipeline; By carry the instrument or the probe of corresponding function at front end, realize needed intraductal operation task.Can check, detect and the fault that occurs is keeped in repair accordingly the certain situation in the pipeline by carrying the application corresponding instrument, substitute manual detection, maintenance.
Technological scheme of the present invention is: a kind of creeping type pipe crawling device is made up of driving element, controlling component, supporting leg, it is characterized in that adopting single motor driving, and controlling component is made up of three end cam groups, roller assembly and leverages; Supporting leg is made of back supporting leg assembly I and preceding supporting leg assembly II, and a roller group is respectively arranged at crawl device front portion, rear portion, sees accompanying drawing 1,2.
Back roller assembly is made up of nut 1, roller 2, nut 3 and bolt 4, equally distributed three rollers 2 are fixed on the back slip annulus 5 by bolt 4 and nut 3, by the pressure effect of spring 29, make roller 2 with in, the ear end face profilogram C of ear end face cam body 6 closely contacts;
Two row roller groups are installed on the roller installing ring 23, uniform three rollers of every row, roller by nut, be bolted on the installing ring 23, back row roller group promptly in the roller assembly 11 roller with in, the middle end profile curve B face of ear end face cam body 6 do not have the gap and contacts, constitute the intermediate cam transmission, roll in the groove that word group 14 is embedded in block plate 15 and front-end face cam 16 rear ends at the front row; But front-end face cam counter roller installing ring rotates, and promotes front end slide block 6 and moves; Screw 13 is fixed together block plate 15 and front-end face cam 16; Roller before the elastic force of spring 19 makes by preceding slip ring 18 on the roller assembly 17 closely contacts with the front-end face profilogram A of front-end face cam 16;
Three sliding rod sleeve 27 1 ends are contained in the hole of roller installing ring 23 fixing respectively, and are fixing in the hole of mounting disc 20 before the other end inserts, spring 19 with can be enclosed within on the sliding rod sleeve 27 along the advancing slip annulus 18 that sliding rod sleeve 27 reciprocatingly slides;
Preceding supporting leg assembly II, it is to constitute by connecting rod 24, forked link 25 and supporting foot 26 are hinged, wherein an end of connecting rod 24 is hinged on the advancing slip rotating ring 18, one end of forked link 25 is hinged in the mounting disc 20, be stained with rubber seal 42 on the supporting foot 26, back supporting leg assembly I is identical with preceding supporting leg assembly II structure, it is to constitute by connecting rod 24, forked link 25 and supporting foot 26 are hinged, wherein an end of connecting rod 24 is hinged on the hinged-support of back mounting disc 34, and an end of forked link 25 is hinged on the back slip annulus 5;
Rolling wheel support 39 in the rear roller group is sleeved in the mounting disc 34 of back, and roller 41 usefulness rivets 40 are positioned on the rolling wheel support 39; In the mounting disc 20, roller 41 usefulness rivets 40 were installed on the rolling wheel support 39 before rolling wheel support 39 in the front wheel group was sleeved on.
Effect of the present invention is that the creeping type pipe crawling device can substitute the people and creeps freely in the pipeline at any angle of inclination of little caliber, finishes required intraductal operation task.This crawl device control flexibly, conveniently can be controlled by manual operating, and perhaps self-powered the and controller (SCM system) of crawl device is realized self-controlling or intelligent operation in the pipe.
Appended drawings 1-pipe crawling device plan view, accompanying drawing 2-pipe crawling device left view.Wherein, supporting leg assembly before the supporting leg assembly behind the I-, II-, A-front-end face profilogram, end profile curve among the B-, C-ear end face profilogram, 1-nut, 2-roller, the 3-nut, the 4-bolt, the annulus that slides behind the 5-is among the 6-, the ear end face cam body, the 7-reducer output shaft, 8-straight pin, 9-straight pin, 10-coupling, roller assembly among the 11-, the 12-square shaft, the 13-screw, 14-rolls at the front row word group, the 15-block plate, roller assembly before the 16-front-end face cam, 17-, 18-front slide annulus, mounting disc before the 19-spring, 20-, the 21-spring, the 22-nut, 23-roller installing ring, 24-connecting rod, the 25-forked link, 26-supporting foot, 27-sliding rod sleeve, the 28-slide bar, 29-spring, 30-screw, the 31-nut, 32-motor, 33-planet wheel decelerator, mounting disc behind the 34-, 35-nut, 36-nut, the 37-bolt, 38-bolt, 39-rolling wheel support, the 40-rivet, 41-roller, 42-rubber seal.
The accompanying drawing 3-pipeline machine block diagram of creeping of creeping, accompanying drawing 4-end cam plan.
Embodiment is described with reference to the accompanying drawings embodiment, and the creeping type pipe crawling device by mechanical drive modes such as end cam group and leverages, is realized sequentially-operating and control thereof in the wriggling traveling process by single motor Driven by Coaxial.In this crawl device, used three secondary end cams, promptly front-end face cam 16 is realized the required transmission of forward part supporting; In end cam and ear end face cam design on a cam body, promptly in, ear end face cam body 6.In, the B end profile curve of ear end face cam body 6, flexible required transmission in the middle of can realizing; In, the C end profile curve of ear end face cam body 6, can realize the required transmission of rear section supporting; Therefore, end cam is main transmission part, and it has mainly played the double action of transmission and sequence control.Because unique profilogram on the end cam, when cam body turn round, its end face can promote not have with it the to-and-fro motion that driven member roller that the gap contacts is done certain rule.Back cam face contacts with roller on the rear slider and forms the high auxiliary driving of back cam, and the cam end face contacts the high auxiliary driving of formation cam with back row's roller on the roller installing ring 9.
Drive motor 32 through the output shaft of planetary reducer with in, ear end face cam body 6 links to each other, and rotates the output low-speed rotation synchronously with output shaft.The output shaft of drive motor 32 also links by coupling 1 and square shaft 2, and front-end face cam 7 is installed on the square shaft, and the front-end face cam promptly can rotate synchronously with square shaft like this, and square shaft is done axially reciprocating relatively again.Two row's rollers are installed on the roller installing ring 9, and uniform three rollers of every row are so that stressed even; Front-seat roller is embedded in the groove of front-end face cam body.The front-end face cam just can rotate by the counter roller installing ring like this, has moved thereby promote front end slide block 6.
Back supporting leg assembly I is identical with preceding supporting leg assembly II structure, is stained with rubber seal 42 on the supporting foot 26, is in order to increase its friction to tube wall.This crawl device has three kinds of actions: preceding support part, middle expanding-contracting action, back support part.1. preceding support part: this part mainly is made up of front-end face cam 16, front end slide block 18 and preceding supporting leg assembly II, and its function is the support and the contraction of supporting foot before realizing.With reference to Fig. 1,2,3,4, along with the rotation of front-end face cam 16, the tight with it front end slide block 18 relative cams that contact of the end face of projection promotion are to front slide gradually on the cam, and spring 19 is compressed simultaneously, can realize propping of preceding supporting leg, three supporting foots are fixed on crawl device on the tube wall; When the end face height of current end cam 16 remained unchanged, the supporting foot hold mode was constant; When the end face of current end cam 16 changed low ebb over to by projection, because the pressure of spring makes front-slider 18 relative cams move backward, thereby preceding supporting leg shrank the support of unclamping main body.Front-end face cam 16 is enclosed within on the square shaft 12, and the front-end face cam promptly can rotate synchronously with square shaft like this, and square shaft is done axially reciprocating relatively again.
2. middle expanding-contracting action: this part mainly is made up of middle end face cam 11 and roller installing ring 9.Rotation along with middle end face cam 11, protruding gradually end face promotes with it the closely roller installing ring 9 of contact on the cam, make its relative intermediate cam to front slide, spring on the slide bar is compressed simultaneously, supporting part separates with afterwards supporting part is relative before can realizing, makes the elongation of crawl device main body; When the end face height of middle end cam 11 remained unchanged, main body kept length constant; When the end face of middle end cam 11 changed low ebb over to by projection, because the pressure of spring makes roller installing ring 9 relative middle end face cams 11 move backward, supporting part was relative close with the back supporting part before can realizing, main body is shortened.
3. back support part: the function of its realization is identical with preceding supporting part, just on the order of action difference is arranged.
The action of advancing of aforementioned tube pipeline crawler is further decomposed, can be divided into six steps, as shown in Figure 3.
(1), the back supporting part open, back three supporting foots are fixed on crawl device on the tube wall; Main body is the shortening state; Preceding supporting part shrinks, thereby first three supporting foot unclamps the support to main body.
(2), main body elongation, supporting part travels forward before driving.
(3), back supporting foot state remains unchanged, preceding supporting leg is propped.
(4), preceding supporting foot hold mode is constant, back supporting leg shrinks.
(5), main body shrinks, drive the back supporting part and travel forward.
(6), when main body is reduced to the most in short-term, the supporting leg of back support ring is propped once more.
So far, finish a cyclic process of advancing and creeping.Retreat creeping of creeping and move that sequence of movement is opposite therewith.
Claims (2)
1. a creeping type pipe crawling device is made up of driving element, controlling component, supporting leg, it is characterized in that adopting single motor driving, controlling component is made up of three end cam groups, roller assembly and leverages, supporting leg is made of back supporting leg assembly [I] and preceding supporting leg assembly [II], and a roller group is respectively arranged at crawl device front portion, rear portion.
2. creeping type pipe crawling device according to claim 1, it is characterized in that, drive motor in the driving element [32] is fixed in the back mounting disc [34] by three groups of screws [30], nut [31], motor output shaft is connected with planetary reducer [33], in being equipped with on the output shaft [7] of planetary reducer [33], ear end face cam body [6], both are fixing by straight pin [8]; Have three on the right side of back mounting disc [34] and be mutually 120 ° of uniform projectioies, three rolling wheel supports of suit [39] on three convex outer surface are equipped with slide bar [28] in the endoporus of projection; The other end of slide bar [28] is inserted in the sliding rod sleeve [27], and spring [29] is enclosed within on the slide bar [28] with the back slip annulus [5] that can reciprocatingly slide along slide bar [28]; Also have three to be mutually 30 ° of uniform hinged-supports on the right side of back mounting disc [34], the connecting rod [24] in the back supporting leg assembly [I] has been installed on the hinged-support with three projectioies;
Back roller assembly is made up of nut [1], roller [2], nut [3] and bolt [4], during equally distributed three rollers [2] are fixed on by bolt [4] and nut [3], on the ear end face profilogram C of ear end face cam body [6]; Two row roller groups are installed on the roller installing ring 23, uniform three rollers of every row, roller by nut, be bolted on the installing ring [23]; Roll in the groove that word group [14] is embedded in block plate [15] and front-end face cam [16] rear end at the front row, but front-end face cam counter roller installing ring is rotated, and slip ring [18] moves before promoting, and screw [13] is fixed together block plate [15] and front-end face cam [16]; Back row roller group promptly in the roller assembly [11] roller with in, the middle end profile curve B unit gap of ear end face cam body [6] contacts formation intermediate cam transmission;
The roller of preceding roller assembly [17] is positioned on the preceding slip ring [18], and the elastic force of spring [19] makes the roller on the preceding roller assembly [17] closely contact with front-end face cam [16] end profile curve A by preceding slip ring [18];
Output shaft [7] connects with square shaft [12] by the coupling [10] that has two straight pins [9], and the right-hand member of square shaft [12] is screwed with nut [22], and spring [21] is compressed and is installed between square shaft [12] right-hand member and the nut [22]; Front-end face cam [16] is enclosed within on the square shaft [12], and block plate [15] is installed on the ear end face of front-end face cam [16] by screw [14];
Three sliding rod sleeve [27] one ends are contained in the hole of roller installing ring [23] fixing respectively, and are fixing in the hole before the other end inserts in the mounting disc [20], spring [19] with can be enclosed within on the sliding rod sleeve [27] along the preceding slip ring [18] that sliding rod sleeve [27] reciprocatingly slides;
Preceding supporting leg assembly [II], it is by connecting rod [24], forked link [25] and the hinged formation of supporting foot [26], wherein an end of connecting rod [24] is hinged on the front end slide block [18], and an end of forked link [25] is hinged in the mounting disc [20], is stained with rubber seal [42] on the supporting foot [26];
Back supporting leg assembly [I] is identical with preceding supporting leg assembly [II] structure; It is by connecting rod 24, forked link [25] and the hinged formation of supporting foot [26], and wherein an end of connecting rod [24] is hinged on the hinged-support of back mounting disc [34], and an end of forked link [25] is hinged on the back slip annulus [5];
Rolling wheel support in the rear roller group [39] is sleeved in the back mounting disc [34], and roller [41] is installed on the rolling wheel support [39] with rivet [40]; Rolling wheel support in the front wheel group [39] is sleeved in the preceding mounting disc [20], and roller [41] is installed on the rolling wheel support [39] with rivet [40].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310120880 CN1281889C (en) | 2003-12-29 | 2003-12-29 | Crawling conduit creeper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200310120880 CN1281889C (en) | 2003-12-29 | 2003-12-29 | Crawling conduit creeper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1635296A true CN1635296A (en) | 2005-07-06 |
| CN1281889C CN1281889C (en) | 2006-10-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200310120880 Expired - Fee Related CN1281889C (en) | 2003-12-29 | 2003-12-29 | Crawling conduit creeper |
Country Status (1)
| Country | Link |
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| CN (1) | CN1281889C (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN102392926A (en) * | 2011-10-18 | 2012-03-28 | 南京航空航天大学 | Pipe robot |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN101737588B (en) * | 2008-11-07 | 2013-07-10 | 中国石油天然气管道局 | Remote control device for adjusting exposure time of ray pipeline crawler |
| CN103439415A (en) * | 2013-09-09 | 2013-12-11 | 长沙理工大学 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
| CN105346614A (en) * | 2015-10-10 | 2016-02-24 | 大连理工大学 | Climbing robot with elastic supporting driving mechanism |
| CN106015832A (en) * | 2016-06-16 | 2016-10-12 | 桂林电子科技大学 | Pneumatic pipeline robot |
| CN107191736A (en) * | 2017-05-27 | 2017-09-22 | 燕山大学 | Four driving pipeline flexible climbing robots |
| CN108555894A (en) * | 2018-07-24 | 2018-09-21 | 北京市和平街第中学 | Pipeline creepage robot |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN109000592A (en) * | 2018-08-30 | 2018-12-14 | 大连理工大学 | A kind of deep and long hole linearity testing apparatus and method |
| CN114992102A (en) * | 2022-06-29 | 2022-09-02 | 常州大学 | Self-creeping oil production electric submersible pump |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100455474C (en) * | 2006-10-30 | 2009-01-28 | 中国农业大学 | Mechanical creeping walking mechanism |
| CN101435521B (en) * | 2007-11-16 | 2010-06-23 | 中国科学院沈阳自动化研究所 | Self-adapting pipe moving mechanism |
| CN101749520B (en) * | 2008-12-19 | 2011-08-03 | 中国科学院沈阳自动化研究所 | Screw type pipeline travel mechanism |
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2003
- 2003-12-29 CN CN 200310120880 patent/CN1281889C/en not_active Expired - Fee Related
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101737588B (en) * | 2008-11-07 | 2013-07-10 | 中国石油天然气管道局 | Remote control device for adjusting exposure time of ray pipeline crawler |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN102345781B (en) * | 2011-06-29 | 2013-05-29 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN102392926A (en) * | 2011-10-18 | 2012-03-28 | 南京航空航天大学 | Pipe robot |
| CN102392926B (en) * | 2011-10-18 | 2013-04-24 | 南京航空航天大学 | Pipe robot |
| CN102506266A (en) * | 2011-10-19 | 2012-06-20 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN102506266B (en) * | 2011-10-19 | 2013-09-18 | 中国科学院合肥物质科学研究院 | Bionic squirm type pipeline travelling mechanism and control method thereof |
| CN103439415A (en) * | 2013-09-09 | 2013-12-11 | 长沙理工大学 | Electromagnetic ultrasonic automatic detection crawler for exposed pipeline |
| CN105346614A (en) * | 2015-10-10 | 2016-02-24 | 大连理工大学 | Climbing robot with elastic supporting driving mechanism |
| CN105346614B (en) * | 2015-10-10 | 2017-07-21 | 大连理工大学 | A kind of climbing robot of flexible support driving mechanism |
| CN106015832A (en) * | 2016-06-16 | 2016-10-12 | 桂林电子科技大学 | Pneumatic pipeline robot |
| CN107191736A (en) * | 2017-05-27 | 2017-09-22 | 燕山大学 | Four driving pipeline flexible climbing robots |
| CN107191736B (en) * | 2017-05-27 | 2019-03-22 | 燕山大学 | Four driving pipeline flexible climbing robots |
| CN108758166A (en) * | 2018-07-17 | 2018-11-06 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN108758166B (en) * | 2018-07-17 | 2019-11-29 | 武汉理工大学 | Single driving creeping motion type pipe robot |
| CN108555894A (en) * | 2018-07-24 | 2018-09-21 | 北京市和平街第中学 | Pipeline creepage robot |
| CN109000592A (en) * | 2018-08-30 | 2018-12-14 | 大连理工大学 | A kind of deep and long hole linearity testing apparatus and method |
| CN114992102A (en) * | 2022-06-29 | 2022-09-02 | 常州大学 | Self-creeping oil production electric submersible pump |
| CN114992102B (en) * | 2022-06-29 | 2023-09-26 | 常州大学 | Self-peristaltic oil extraction electric submersible pump |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1281889C (en) | 2006-10-25 |
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Granted publication date: 20061025 Termination date: 20100129 |