CN203099211U - Creeping pipeline robot walking mechanism - Google Patents
Creeping pipeline robot walking mechanism Download PDFInfo
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- CN203099211U CN203099211U CN 201320022049 CN201320022049U CN203099211U CN 203099211 U CN203099211 U CN 203099211U CN 201320022049 CN201320022049 CN 201320022049 CN 201320022049 U CN201320022049 U CN 201320022049U CN 203099211 U CN203099211 U CN 203099211U
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- pipeline robot
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Abstract
The utility model discloses a creeping pipeline robot walking mechanism which comprises an outer shell, a drive mechanism, a reversing mechanism, a creeping mechanism and guiding mechanisms, wherein three first driving feet and three supporting feet are evenly distributed on the circumference of the outer shell, each driving foot is connected with each second driving foot, a reset spring is arranged between each first driving foot and each second driving foot, the second driving feet are connected with the reversing mechanism, one end of each driving connecting rod is connected with each second driving foot, the other end of each driving connecting rod is connected with the reversing mechanism, the end portion of each supporting foot is connected with one end of each supporting connecting rod, the other end of each supporting connecting rod is connected with the drive mechanism, and the guiding mechanisms are respectively arranged the upper portion and the lower portion of the outer shell. According to the creeping pipeline robot walking mechanism, the problems that in the prior art, an existing pipeline robot walking mechanism is complex in structure, inconvenient to detect and maintain, large in size and difficult in adapting to small-size pipelines, difficult in speed and accurate positioning control and not good in creeping effect and the like. The creeping pipeline robot walking mechanism has the advantages of being simple in structure, cheap in manufacturing cost, convenient to detect and maintain, accurate in positioning and not difficult in speed control.
Description
Technical field
The utility model relates to pipeline robot technique, is a kind of creeping-type pipeline robot traveller specifically.
Background technique
Pipeline robot has important effect in petroleum industry.In oilfield development process, need to bore a kind of particular vertical pipeline---oil gas well, and need be in well in drilling process the installment work instrument, finish the measurement of parameter in the well, also need to detect the working state (the especially state of accident well) of well, to make workover eration scheme accurately, these needs of work are finished with pipeline robot.And petroleum pipeline is in long-term using process, pipeline can be subjected to managing the effect of inside and outside medium and produce burn into fouling, crackle, perforation etc. and cause pipeline to lose efficacy, influence normally carrying out of production of hydrocarbons, also need to use pipeline robot and detect and keep in repair this moment.
The achievement in research of pipeline robot is a lot of at present, as: (patent publication No. is " a kind of pipeline robot traveller of reducing " of Jiangsu polytechnical university research: CN1966336A); (patent publication No. is " movement mechanism of cam type pipe robot " of PLA University of Science and Technology for National Defense's research: CN101430037A); " a kind of drive running mechanism of pipeline robot " of Daqing Petroleum Institute's research (patent publication No. is: CN101788093) or the like.But also there is following technical problem in pipeline robot of the prior art:
(1) complex structure of pipeline robot detects inconvenient maintenance;
(2) the pipeline robot size is bigger, is difficult to adapt to small pipeline;
(3) when pipeline robot utilizes external hydraulic to drive, speed is difficult to control with accurate location.
The model utility content
The purpose of this utility model is to overcome the deficiency that above prior art exists, and provides a kind of simple in structure, low cost, maintenance convenient, accurately location, the manageable creeping-type pipeline robot of speed traveller.
In order to achieve the above object, the utility model by the following technical solutions: a kind of creeping-type pipeline robot traveller comprises shell, driving mechanism, changement, crawling mechanism and guide mechanism; Wherein, crawling mechanism comprises that first drives pin, Returnning spring, second drives pin, drive link, support link and supporting foot, 3 first of shell circumference uniform distributions drive pin and 3 supporting foots, every first drives pin and is connected with the second driving pin, the first driving pin and second drives between the pin Returnning spring is set, second drives pin is connected with changement, drive link one end and second drives pin and is connected, the drive link the other end is connected with driving mechanism, the end of every supporting foot connects support link one end, the support link the other end is connected with driving mechanism, and the upper and lower of shell is respectively equipped with guide mechanism.
In order to realize the directed function that changes the back and forth movement of slide block into of drive motor, preferred, described driving mechanism comprises drive motor, synchronous pulley, synchronous band, eccentric wheel and slide block; Wherein, drive motor is located at the bottom in the shell, and the top of drive motor is provided with eccentric wheel, drive motor is connected with synchronous band, and band is connected with eccentric wheel by synchronous pulley synchronously, and eccentric wheel is connected with slide block, upper end of slide block connects drive link, and the slide block lower end connects support link.
In order to realize changing the function of robot motion's direction, preferred, described changement comprises reversing motor, screw mandrel and nut plate; Wherein, reversing motor is located at the top in the shell, and reversing motor is connected with screw mandrel, and screw mandrel passes nut plate, and second drives pin is connected with nut plate.
In order to prevent that robot from toppling, keep robot stabilized motion, described guide mechanism is the rubber-like upper saw pulley, the upper and lower of shell is respectively equipped with 3 upper saw pulleys.
In order to increase frictional force, described first end that drives pin and supporting foot puts rubber respectively.
Working principle of the present utility model: a kind of creeping-type pipeline robot traveller comprises shell, driving mechanism, changement, crawling mechanism and guide mechanism; Wherein, crawling mechanism comprises that first drives pin, Returnning spring, second drives pin, drive link, support link and supporting foot, 3 first of shell circumference uniform distributions drive pin and 3 supporting foots, every first drives pin and is connected with the second driving pin, the first driving pin and second drives between the pin Returnning spring is set, second drives pin is connected with changement, drive link one end and second drives pin and is connected, the drive link the other end is connected with driving mechanism, the end of every supporting foot connects support link one end, the support link the other end is connected with driving mechanism, and the upper and lower of shell is respectively equipped with guide mechanism.
Described driving mechanism comprises drive motor, synchronous pulley, synchronous band, eccentric wheel and slide block; Wherein, drive motor is located at the bottom in the shell, the top of drive motor is provided with eccentric wheel, drive motor is connected with synchronous band, band is connected with eccentric wheel by synchronous pulley synchronously, and eccentric wheel is connected with slide block, and upper end of slide block connects drive link, the slide block lower end connects support link, and changement comprises reversing motor, screw mandrel and nut plate; Wherein, reversing motor is located at the top in the shell, and reversing motor is connected with screw mandrel, and screw mandrel passes nut plate, and second drives pin is connected with nut plate, and described guide mechanism is the rubber-like upper saw pulley, and the upper and lower of shell is respectively equipped with 3 upper saw pulleys.
The utility model has been simulated the motor behavior that the people climbs in the relative wall in two sides.The people is when climbing wall, and at first bipod opens and props up two face walls, thereby supports health, and two hands are crooked and be adjacent to wall with pronation.Two hands supports is straight then, and bipod unclamps simultaneously, this moment people's segment distance that can move upward.Bipod props up wall once again then, and two move on hand, and are adjacent to wall with pronation, make hand be bent state.It is rapid to repeat previous step then, and the people of so circulating just can successfully move upward.
The utility model drives the both hands that pin replaces the people with first of 3 circumference uniform distributions, the both feet that replace the people with the supporting foot of 3 circumference uniform distributions, the action of climbing wall with the people is the same, when supporting foot opens, supporting foot props up inner-walls of duct, supports robot running gear, when the first driving pin opens, first drives pin can make the robot running gear segment distance that moves up or down, and its moving direction depends on that first drives the direction of pin.Ceaselessly alternately open when tightening up when supporting foot and first drives pin, robot just can move off and on up or down.
When robot was up, the first driving pin was downward-sloping, and at this moment, drive motor rotates, and drove and the coaxial eccentric wheel rotation that links to each other of synchronous pulley by synchronous band, thereby under eccentric effect, drove slide block and move up and down; When moving on the slide block, under the effect of support link, supporting foot inwardly tightens up, and under the effect of drive link, first drives pin outwards opens, the robot segment distance that moves up; When slide block moved down, under the effect of support link, supporting foot outwards opened, and under the effect of drive link, first drives pin inwardly tightens up, and robotary keeps, and prepared for moving on next time; A work cycle when Here it is robot is up.
When robot became downstream state from uplink state, drive motor stopped, and slide block is in pole location down, and reversing motor clockwise rotates, and drive the screw mandrel that is connected with the reversing motor axle and rotate, thereby under feed screw nut's effect, nut plate moves down.The nature that moves down of nut plate makes second to drive pin to descending state-transition.
When robot was descending, its working procedure was the same substantially when up, to some extent difference be when descending first drive outwards opening of pin be make robot move down rather than on move.
Working procedure and the working procedure that becomes downstream state from uplink state also basically identical that robot becomes uplink state from downstream state, the sense of rotation of different is reversing motor are counterclockwise rather than clockwise.
The utility model has following advantage and effect with respect to prior art:
1, the utility model has adopted and has comprised shell, driving mechanism, changement, crawling mechanism and guide mechanism; Wherein, crawling mechanism comprises that first drives pin, Returnning spring, second drives pin, drive link, support link and supporting foot, 3 first of shell circumference uniform distributions drive pin and 3 supporting foots, every first drives pin and is connected with the second driving pin, the first driving pin and second drives between the pin Returnning spring is set, second drives pin is connected with changement, drive link one end and second drives pin and is connected, the drive link the other end is connected with driving mechanism, the end of every supporting foot connects support link one end, the support link the other end is connected with driving mechanism, the upper and lower of shell is respectively equipped with guide mechanism, has simple in structure, low cost, maintenance is convenient, accurately locate, characteristics such as speed is easy to control.
2, the utility model employing driving mechanism and changement, drive motor and reversing motor are easy to realize movement velocity control and accurate location respectively as the power source of walking and the power source of commutation.
3, the biological mode of creeping of the utility model simulation, and compact structure is easy to realize microminiaturization, to adapt to the microtubule operating conditions.
4, each component in the utility model is all processed easily and is keeped in repair.
5, can be implemented in Roughness be walking in 3% the pipeline to the utility model, and applicability is strong.
Description of drawings
Fig. 1 is a kind of structural representation of creeping-type pipeline robot traveller;
Fig. 2 is a kind of schematic representation of creeping-type pipeline robot traveller upstroke;
Fig. 3 is the schematic representation of a kind of creeping-type pipeline robot traveller downward movement.
Number in the figure and title are as follows:
| 1 | |
2 | First drives pin |
| 3 | Returnning spring | 4 | |
| 5 | |
6 | |
| 7 | |
8 | |
| 9 | |
10 | Be with synchronously |
| 11 | |
12 | |
| 13 | Reversing |
14 | |
| 15 | |
16 | Upper saw pulley |
Embodiment
For ease of it will be appreciated by those skilled in the art that the utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment:
As shown in Figure 1, a kind of creeping-type pipeline robot traveller comprises shell 1, driving mechanism, changement, crawling mechanism and guide mechanism; Wherein, crawling mechanism comprises that first drives pin 2, Returnning spring 3, second drives pin 4, drive link 5, support link 6 and supporting foot 7,3 first of shell 1 circumference uniform distributions drive pin 2 and 3 supporting foots 7, every first drives pin 2 and is connected with the second driving pin 4, the first driving pin 2 and second drives between the pin 4 Returnning spring 3 is set, second drives pin 4 is connected with changement, drive link 5 one ends and second drive pin 4 and are connected, drive link 5 the other ends are connected with driving mechanism, the end of every supporting foot 7 connects support link 6 one ends, support link 6 the other ends are connected with driving mechanism, the upper and lower of shell 1 is respectively equipped with guide mechanism, in order to increase frictional force, 7 ends that in the present embodiment first drives pin 2 and supporting foot put rubber respectively, in order to prevent to skid, first drives pin 2 should be in friction angle with the pressure angle of tube wall, the effect of Returnning spring 3 is the first driving pin 2 and second to be driven keep certain included angle between the pin 4 when resetting, supporting foot 7 and tube wall have the process of one section extruding, so supporting foot 7 ends should have certain flexibility.
Driving mechanism in the present embodiment comprises drive motor 8, synchronous pulley 9, is with 10 synchronously, eccentric wheel 11 and slide block 12; Wherein, because the elongated characteristics of robot, drive motor 8 is located at the bottom in the shell 1, the top of drive motor 8 is provided with eccentric wheel 11, drive motor 8 be with 10 to be connected synchronously, be with 10 to be connected with eccentric wheel 11 by synchronous pulley 9 synchronously, eccentric wheel 11 is connected with slide block 12, slide block 12 upper ends connect drive link 5(3 root), slide block 12 lower ends connect support link 6(3 root), the effect of driving mechanism is the to-and-fro motion that the one-way rotation of drive motor 8 is changed into slide block 12.
Changement in the present embodiment comprises reversing motor 13, screw mandrel 14 and nut plate 15; Wherein, reversing motor 13 is located at the top in the shell 1, reversing motor 13 is connected with screw mandrel 14, screw mandrel 14 passes nut plate 15, second drives pin 4(3 root) be connected with nut plate 15, when reversing motor 13 turns clockwise, under screw mandrel 14 effects, nut plate 15 can move downward, i.e. drive is fixed on the driving of second on the nut plate 15 pin 4 fixed supports and moves down, first attitude that drives pin 2 is become obliquely from oblique under, reach the moving direction of robot is become descending effect from up, realization commutates.Otherwise, when reversing motor 13 is rotated counterclockwise, under the effect of screw mandrel 14, nut plate 15 can move upward, promptly drive on the fixed support that is fixed on the driving of second on the nut plate 15 pin 4 and move, make first form that drives pin 2 obliquely reach the moving direction of robot is become up effect from descending down, realize commutating from becoming obliquely.
Guide mechanism in the present embodiment is a rubber-like upper saw pulley 16, and the upper and lower of shell is respectively equipped with 3 upper saw pulleys 16, but because upper saw pulley 16 elastic telescopics, so can play the effect of guiding and counterweight to robot.
Shown in Fig. 2 (a), slide block 12 is when descending limit at this moment, and under the effect of support link 6, supporting foot 7 compresses tube wall, and suffered frictional force can overcome the gravity of robot; Shown in Fig. 2 (b), when slide block 12 moved up to the transition point position from descending limit, first drove pin 2 contact tube walls, and supporting foot 7 is about to break away from tube wall simultaneously; In slide block 12 continued to move upward the process of supreme limit, under the effect of slide block 12 and drive link 5, first drives pin 2 drove in the robots and moves a segment distance; Shown in Fig. 2 (c), when slide block 12 during in last limit, first drives pin 2 is in straight configuration, and supporting foot 7 breaks away from tube walls; Shown in Fig. 2 (d), when slide block 12 when last limit moves downward down pole location, robot recovers supporting foot 7 and supports tube walls, first drives the state that pin 2 breaks away from tube walls, therefore as can be seen, constantly moving up and down of slide block 12 can make robot move upward off and on.
Shown in Fig. 3 (a), this moment, slide block 12 was in pole location down, and supporting foot 7 compresses tube wall and overcomes the suffered gravity of robot, and the first driving pin 2 is curved shape and leans against on the tube wall under the effect of Returnning spring 3; When slide block 12 made progress the limit motion from descending limit, first drives pin 2 stretched, and makes robot move down a segment distance; Shown in Fig. 3 (b), when slide block 12 was in limit, first drives pin 2 was in straight configuration, and supporting foot 7 breaks away from tube wall; Shown in Fig. 3 (c), when slide block 12 during from the motion of the downward limit of last limit, robot recovers supporting foot 7 and supports tube walls, and first drives pin 2 is curved shape and leans against situation on the tube wall, this shows that constantly moving up and down of slide block 12 moves downward robot off and on.
Above-mentioned embodiment is a preferred embodiment of the present utility model; can not limit the utility model; other any change that does not deviate from the technical solution of the utility model and made or other equivalent substitute mode are included within the protection domain of the present utility model.
Claims (5)
1. a creeping-type pipeline robot traveller is characterized in that: comprise shell, driving mechanism, changement, crawling mechanism and guide mechanism; Wherein, crawling mechanism comprises that first drives pin, Returnning spring, second drives pin, drive link, support link and supporting foot, 3 first of shell circumference uniform distributions drive pin and 3 supporting foots, every first drives pin and is connected with the second driving pin, the first driving pin and second drives between the pin Returnning spring is set, second drives pin is connected with changement, drive link one end and second drives pin and is connected, the drive link the other end is connected with driving mechanism, the end of every supporting foot connects support link one end, the support link the other end is connected with driving mechanism, and the upper and lower of shell is respectively equipped with guide mechanism.
2. creeping-type pipeline robot traveller according to claim 1 is characterized in that: described driving mechanism comprises drive motor, synchronous pulley, synchronous band, eccentric wheel and slide block; Wherein, drive motor is located at the bottom in the shell, and the top of drive motor is provided with eccentric wheel, drive motor is connected with synchronous band, and band is connected with eccentric wheel by synchronous pulley synchronously, and eccentric wheel is connected with slide block, upper end of slide block connects drive link, and the slide block lower end connects support link.
3. creeping-type pipeline robot traveller according to claim 1, it is characterized in that: described changement comprises reversing motor, screw mandrel and nut plate; Wherein, reversing motor is located at the top in the shell, and reversing motor is connected with screw mandrel, and screw mandrel passes nut plate, and second drives pin is connected with nut plate.
4. creeping-type pipeline robot traveller according to claim 1 is characterized in that: described guide mechanism is the rubber-like upper saw pulley, and the upper and lower of shell is respectively equipped with 3 upper saw pulleys.
5. creeping-type pipeline robot traveller according to claim 1 is characterized in that: described first end that drives pin and supporting foot puts rubber respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320022049 CN203099211U (en) | 2013-01-15 | 2013-01-15 | Creeping pipeline robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320022049 CN203099211U (en) | 2013-01-15 | 2013-01-15 | Creeping pipeline robot walking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203099211U true CN203099211U (en) | 2013-07-31 |
Family
ID=48850614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320022049 Expired - Lifetime CN203099211U (en) | 2013-01-15 | 2013-01-15 | Creeping pipeline robot walking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203099211U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105402551A (en) * | 2015-12-10 | 2016-03-16 | 宁波市镇海西门专利技术开发有限公司 | Pipeline guy machine |
| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
| CN111512085A (en) * | 2017-12-29 | 2020-08-07 | 韩国天然气公社 | Pipeline inspection device and operation method thereof |
-
2013
- 2013-01-15 CN CN 201320022049 patent/CN203099211U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105402551A (en) * | 2015-12-10 | 2016-03-16 | 宁波市镇海西门专利技术开发有限公司 | Pipeline guy machine |
| CN105402551B (en) * | 2015-12-10 | 2019-10-29 | 宁波市镇海西门专利技术开发有限公司 | Pipeline guy rope machine |
| CN105840950A (en) * | 2016-06-06 | 2016-08-10 | 沈阳建筑大学 | Stepping pipeline robot |
| CN111512085A (en) * | 2017-12-29 | 2020-08-07 | 韩国天然气公社 | Pipeline inspection device and operation method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130731 |