CN203571334U - Pipeline inspection robot propelling mechanism with obstacle removing function - Google Patents

Pipeline inspection robot propelling mechanism with obstacle removing function Download PDF

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Publication number
CN203571334U
CN203571334U CN201320704377.6U CN201320704377U CN203571334U CN 203571334 U CN203571334 U CN 203571334U CN 201320704377 U CN201320704377 U CN 201320704377U CN 203571334 U CN203571334 U CN 203571334U
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CN
China
Prior art keywords
wheel
pipeline
air spring
function
driving
Prior art date
Application number
CN201320704377.6U
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Chinese (zh)
Inventor
韩厚德
侯博正
韩星
张兴奎
黄艳
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江苏师范大学
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Application filed by 江苏师范大学 filed Critical 江苏师范大学
Priority to CN201320704377.6U priority Critical patent/CN203571334U/en
Application granted granted Critical
Publication of CN203571334U publication Critical patent/CN203571334U/en

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Abstract

The utility model discloses a pipeline inspection robot propelling mechanism with an obstacle removing function and relates to the technical field of automatic inspection robots for periodical pipeline maintenance. The mechanism comprises a cylindrical hollow body, a rotary double-piece type zigzag blade, a plurality of supporting wheels and a propeller fixed on the rear portion of the body, wherein the blade is fixed at the front end of the hollow body through a rotary shaft, a direct current motor is connected to the rotary shaft, the supporting wheels are evenly fixed on the cylindrical surface of the front end of the hollow body, the propeller comprises a motor, a coupler and a driving wheel, the coupler is located on the central axis of the body, the motor is connected with one end of the coupler, the driving wheel is connected with the other end of the coupler, and the driving wheel is located behind the body and comprises a rear air spring and a rear wheel connected with the rear air spring and capable of moving obliquely in the radial direction along the inner wall of a pipeline. The pipeline inspection robot propelling mechanism with the obstacle removing function is simple in structure, capable of being matched with engineering detection equipment easily, capable of guaranteeing the effect and safety of pipeline conveyance and improving the service life of the pipeline.

Description

There is the detecting robot of pipe driving mechanism of the function of removing obstacles
Technical field
The utility model relates to automation detection Robotics field, the specifically a kind of detecting robot of pipe driving mechanism with the function of removing obstacles for pipeline periodic maintenance.
Background technique
Pipeline transport plays vital effect in the multiple industry of society, and in the oil gas transportation of resources domain, the plumbing of urban architecture, ventilation system, the use of pipeline is all absolutely necessary.But due to complexity and the seal of piping design, periodic maintenance in use detects a great problem that becomes engineers and technicians, for the real time status of pipe interior, adopt fixed equipment to monitor, cost is high, and sensitive for damages.Instrument and equipment is in some extraordinary material for a long time, and the accuracy of himself precision, image data is difficult to grasp for technician.Simultaneously, fixed equipment only can detect interior field data, and inconvenience updates, with pipeline, increase service life, local ageing, the phenomenon of damaging, hoarding foreign matter possibly cannot find and process in time, very easily cause relevant accident, cause economic loss and environmental disruption, bring adverse effect to people's productive life.If run into larger foreign matter in existing rotary pipeline robot traveling process, may not can stop immediately robot to advance, along with the accumulation meeting of obstacle increases load to propulsion device, and then damage drive system.In the more ventilation duct of dust, once larger foreign matter is hoarded on the transmission shaft of propulsion device motor, can directly affect effective rotation of motor, break the stability of system.
Summary of the invention
For solving the problems of the technologies described above, the utility model provides a kind of detecting robot of pipe driving mechanism with the function of removing obstacles that engineering equipment also can freely be advanced at pipe interior of being convenient to load.
The utility model adopts following scheme to realize: a kind of detecting robot of pipe driving mechanism with the function of removing obstacles, comprises hollow main body, rotary double leaf serrated blade, multiple supporting wheel and be fixed on the propulsion device of back body; Described blade is fixed on hollow body front end by running shaft; Described running shaft is connected with direct current generator; Described supporting wheel is evenly fixed on hollow body nose circle cylinder; Described propulsion device comprises motor, coupling and driving wheel; Described coupling is positioned on main center's axis, and coupling one end connects motor, and the other end connects driving wheel; Described driving wheel is positioned at main body rear, comprises rear air spring and the rear wheel that is connected and moves along inner-walls of duct radial skew with rear air spring.
It is further: described supporting wheel comprises front air spring and the front wheel along inner-walls of duct radial motion; Described front air spring one end connects front wheel, and the other end is evenly fixed on the circumferential surface of body front part.
Described rear air spring one end connects rear wheel, and the other end is evenly fixed on coupling end; Described rear wheel comprises two wheel sheets and the wheel axle that is vertically connected two wheel sheets; Described wheel axle is connected with rear air spring, and wheel axle and pipeline are radially an angle; Described angle is between 10 degree to 30 degree.
Totally three of described supporting wheels.
Totally three of described driving wheels.
During use, by measuring requirement, in main body, configure coherent detection data acquisition unit, then a section node to be measured pipeline is opened to this equipment of putting into, fix this equipment and pipeline relative position, open motor driving wheel is rotated around main center axis with coupling, rear wheel will move and promote this equipment and advance or retreat on tube wall.Blade rotates the obstacle running into cleaning under the drive of direct current generator.According to different demands, after Equipment Inspection related data, can return to or march to destined node by the former road of control order equipment, implement to reclaim.
The utility model carries special parameter monitoring compares stationary monitoring system existing in some pipeline with equipment, is convenient to continuous perception pipe interior situation, when the engineering equipment carrying upgrades upgrading, without the requirement of doing too much adjustment and can meet new task.
The utility model is simple in structure, convenient pipe interior is made regular check on, and can ensure effect and the safety of pipeline transport, improves pipeline working life; Body interior is used for placing engineering survey equipment, and compact design is saved robot entirety and taken up space; Supporting wheel and driving wheel wheel split robot rear and front end, guarantee this mechanism stable operation, avoid internal unit affected by foreign matter in pipeline; The design of rotary double leaf serrated blade can be removed the larger obstacle running in pipeline.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is Fig. 1 left view;
Fig. 3 is front air spring and front wheel structural representation;
Fig. 4 is blade structure schematic diagram.
In figure: 1, main body; 2, supporting wheel; 21, front air spring; 22, front wheel; 3, coupling; 4, driving wheel; 41, rear air spring; 42, rear wheel; 5, running shaft; 6, blade.
Embodiment
Be below a specific embodiment of the present utility model, and by reference to the accompanying drawings the utility model be described further.
As shown in Figures 1 to 4, a kind of detecting robot of pipe driving mechanism with the function of removing obstacles, comprises hollow main body 1,6,3 supporting wheels 2 of rotary double leaf serrated blade and is fixed on the propulsion device of back body; Blade 6 is fixed on hollow body 1 front end by running shaft 5; Running shaft 5 is connected with direct current generator; Supporting wheel 2 comprises front air spring 21 and the front wheel 22 along inner-walls of duct radial motion; Front air spring 21 one end connect front wheel 22, and the other end is evenly fixed on the circumferential surface of main body 1 front portion; Propulsion device comprises motor, 3 and 3 driving wheels that are arranged symmetrically with 4 of coupling; Coupling 3 is positioned on main body 1 central axis, and coupling 3 one end connect motor, and the other end connects driving wheel 4; Driving wheel 4 comprise rear air spring 41 and with the rear wheel 42 moving along inner-walls of duct radial skew; Rear air spring 41 one end connect rear wheel 42, and the other end is evenly fixed on coupling 3 ends; Described rear wheel 42 comprises two wheel sheets and the wheel axle that is vertically connected two wheel sheets; Described wheel axle is connected with rear air spring 41, and wheel axle and pipeline are radially one 15 degree angles.
Main body 1 is for cylindrical hollow designs, for unit engineering measuring equipment.Supporting wheel 2 adopts small-sized wheel and air spring with propulsion device, on the one hand wheel and inner-walls of duct are fitted tightly, at long and narrow pipe interior, freely advance and retreat, can also make on the other hand main body 1 be fixed on pipe interior, and make main body 1 and pipeline coaxial, guarantee that this equipment marches forward along pipeline footpath.Rotary double leaf serrated blade 6 is fixed on main body 1 front end, and when running into larger obstacle in traveling process, double leaf serrated blade High Rotation Speed, removes processing to it.
During use, by measuring requirement, in main body 1, configure coherent detection data acquisition unit, then a section node to be measured pipeline is opened to this equipment of putting into, fix this equipment and pipeline relative position, open motor driving wheel 4 is rotated around main body 1 central axis with coupling 3, rear wheel 42 will move and promote this equipment and advance or retreat on tube wall.According to different demands, after Equipment Inspection related data, can return to or march to destined node by the former road of control order equipment, implement to reclaim.

Claims (5)

1. a detecting robot of pipe driving mechanism with the function of removing obstacles, is characterized in that: comprise hollow main body (1), rotary double leaf serrated blade (6), multiple supporting wheel (2) and be fixed on the propulsion device of back body; Described blade (6) is fixed on hollow body (1) front end by running shaft (5); Described running shaft (5) is connected with direct current generator; Described supporting wheel (2) is evenly fixed on hollow body (1) nose circle cylinder; Described propulsion device comprises motor, coupling (3) and driving wheel (4); Described coupling (3) is positioned on main body (1) central axis, and coupling (3) one end connects motor, and the other end connects driving wheel (4); Described driving wheel (4) is positioned at main body (1) rear, comprises rear air spring (41) and the rear wheel (42) that is connected with rear air spring (41) and moves along inner-walls of duct radial skew.
2. the detecting robot of pipe driving mechanism with the function of removing obstacles according to claim 1, is characterized in that: described supporting wheel (2) comprises front air spring (21) and the front wheel (22) along inner-walls of duct radial motion; Described front air spring (21) one end connects front wheel (22), and the other end is evenly fixed on the anterior circumferential surface of main body (1).
3. the detecting robot of pipe driving mechanism with the function of removing obstacles according to claim 1, is characterized in that: described rear air spring (41) one end connects rear wheel (42), and the other end is evenly fixed on coupling (3) end; Described rear wheel (42) comprises two wheel sheets and the wheel axle that is vertically connected two wheel sheets; Described wheel axle is connected with rear air spring (41), and wheel axle and pipeline are radially an angle; Described angle is between 10 degree to 30 degree.
4. the detecting robot of pipe driving mechanism with the function of removing obstacles according to claim 1, is characterized in that: totally three of described supporting wheels (2).
5. the detecting robot of pipe driving mechanism with the function of removing obstacles according to claim 1, is characterized in that: totally three of described driving wheels (4).
CN201320704377.6U 2013-11-11 2013-11-11 Pipeline inspection robot propelling mechanism with obstacle removing function CN203571334U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201320704377.6U CN203571334U (en) 2013-11-11 2013-11-11 Pipeline inspection robot propelling mechanism with obstacle removing function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201320704377.6U CN203571334U (en) 2013-11-11 2013-11-11 Pipeline inspection robot propelling mechanism with obstacle removing function

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Publication Number Publication Date
CN203571334U true CN203571334U (en) 2014-04-30

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CN201320704377.6U CN203571334U (en) 2013-11-11 2013-11-11 Pipeline inspection robot propelling mechanism with obstacle removing function

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104500913A (en) * 2014-12-15 2015-04-08 郑州新力光电技术有限公司 Curve crawl device
CN105156836A (en) * 2015-08-30 2015-12-16 徐金鹏 Pipeline dredging robot
CN105465550A (en) * 2016-01-25 2016-04-06 王晶怡 Pipeline gas detection device
CN105508803A (en) * 2016-01-22 2016-04-20 蔡婷婷 Water pipe detecting device
CN105508804A (en) * 2016-01-25 2016-04-20 王晶怡 Pipeline obstacle avoiding device
CN105736896A (en) * 2014-12-07 2016-07-06 中国石油化工股份有限公司 Hot wax-bearing crude oil pipeline auxiliary starting device
CN105782633A (en) * 2016-04-18 2016-07-20 中北大学 Pipeline leakage self-adaption series-connection sealed repairing device creeping on basis of spiral driving mechanism
CN107031805A (en) * 2017-04-12 2017-08-11 中国民航大学 A kind of pipe robot suitable for liquid environment

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105736896B (en) * 2014-12-07 2018-03-16 中国石油化工股份有限公司 Hot waxy oil pipeline auxiliary actuating apparatus
CN105736896A (en) * 2014-12-07 2016-07-06 中国石油化工股份有限公司 Hot wax-bearing crude oil pipeline auxiliary starting device
CN104500913A (en) * 2014-12-15 2015-04-08 郑州新力光电技术有限公司 Curve crawl device
CN105156836A (en) * 2015-08-30 2015-12-16 徐金鹏 Pipeline dredging robot
CN105156836B (en) * 2015-08-30 2017-05-03 宁波威客双创投资有限公司 Pipeline dredging robot
CN105508803A (en) * 2016-01-22 2016-04-20 蔡婷婷 Water pipe detecting device
CN105465550A (en) * 2016-01-25 2016-04-06 王晶怡 Pipeline gas detection device
CN105465550B (en) * 2016-01-25 2017-12-01 董怡君 A kind of pipeline gas detection means
CN105508804A (en) * 2016-01-25 2016-04-20 王晶怡 Pipeline obstacle avoiding device
CN105782633A (en) * 2016-04-18 2016-07-20 中北大学 Pipeline leakage self-adaption series-connection sealed repairing device creeping on basis of spiral driving mechanism
CN105782633B (en) * 2016-04-18 2018-05-29 中北大学 It is adaptively connected based on the pipe leakage that screw drives are creeped and blocks prosthetic device
CN107031805A (en) * 2017-04-12 2017-08-11 中国民航大学 A kind of pipe robot suitable for liquid environment

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Granted publication date: 20140430

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