CN203614993U - Pipeline robot walking device capable of being automatically adapted to diameters - Google Patents
Pipeline robot walking device capable of being automatically adapted to diameters Download PDFInfo
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- CN203614993U CN203614993U CN201320796765.1U CN201320796765U CN203614993U CN 203614993 U CN203614993 U CN 203614993U CN 201320796765 U CN201320796765 U CN 201320796765U CN 203614993 U CN203614993 U CN 203614993U
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Abstract
The utility model discloses a pipeline robot walking device capable of being automatically adapted to diameters. According to a reducing mechanism of the pipeline robot walking device, a lead screw driven by a reducing motor is installed on the axis of a cylinder body, a nut of a cross-shaped movable frame is screwed on the lead screw, the ends of the cross-shaped movable frame extend out of the cylinder body, parallelogram connecting rod assemblies are arranged outside the cylinder body and correspond to all the ends of the cross-shaped movable frame, one end of each parallelogram connecting rod assembly is hinged to the cylinder body, and reducing elastic supporting rods are respectively hinged to the parallelogram connecting rod assemblies and the ends of the cross-shaped movable frame. According to walking mechanisms of the pipeline robot walking device, wheel holders correspond to all the parallelogram connecting rod assemblies and are hinged to the other ends of the parallelogram connecting rod assemblies respectively, a plurality of walking wheel assemblies are installed on walking wheel frames which extend out of the wheel holders elastically in the radial direction, and the two ends of each walking wheel assembly are respectively provided with a guiding wheel assembly. The pipeline robot walking device can walk in a square pipeline or a round pipeline and can smoothly pass through a corner of the pipeline; after related auxiliary tools are assembled, the pipeline robot walking device can conduct operation such as welding, installation, detection and maintenance on the pipeline.
Description
(1) technical field:
The utility model relates to the traveller in pipeline, is specially a kind of self adaption diameter pipeline robot walking device.
(2) background technique:
Along with social development, in daily life, exist big and small, various pipelines, such as petroleum pipeline, natural gas line, the pipeline of central air-conditioner, water supply pipe used in life, pipeline used etc. in nuclear power station.These pipelines vary, shape has Fang Youyuan, and present people's life has be unable to do without pipeline, and overhead have in the air buried underground that these pipelines have, once be difficult to so occur leaking the position that accurately judgement is leaked, and be difficult to maintenance and detect.
And all pipelines of corresponding fixed diameter of existing most of pipeline robot so often change a kind of pipeline of specification and just need to again manufacture a suitable robot, cause very large waste.
The utility model can adapt to the size of caliber within the specific limits automatically, reaches the object of a tractor serves several purposes.
(3) model utility content:
The purpose of this utility model is to provide a kind of self adaption diameter pipeline robot walking device, to solve the problems such as welding, installation, detection and the maintenance of the pipeline that manual operation is restricted.
The technological scheme of the utility model self adaption diameter pipeline robot walking device, the diameter changing mechanism that comprise matrix, arranges based on matrix and the traveller arranging based on diameter changing mechanism, described matrix is the staving consistent with pipeline axial, described diameter changing mechanism comprises by the motor-driven screw mandrel of reducing, cross movable stand, reducing elastic supporting bar (is made up of a sleeve and one section of axle with step, spring is installed in sleeve to be supported the axle with step) and parallelogram connection-rod assembly, described screw mandrel is by retainer location and installation on staving axis, described cross movable stand screws by the nut and the screw mandrel that are fixed on center in staving, staving is stretched out by the corresponding axial groove of offering on staving in the termination of cross movable stand, described parallelogram connection-rod assembly each termination corresponding to cross movable stand outside staving arranges, one end of parallelogram connection-rod assembly and staving are hinged, described reducing elastic supporting bar arranges and is hinged with both respectively between parallelogram connection-rod assembly and the termination of cross movable stand, described traveller comprises wheel retainer, walking wheel carrier and road wheel assembly, described wheel retainer arranges and is hinged with the parallelogram connection-rod assembly the other end corresponding to each parallelogram connection-rod assembly, before some, the rear road wheel assembly axially arranging is installed corresponding to the walking wheel carrier stretching out from wheel retainer radial elastic, described road wheel assembly is the assemblying body of road wheel and traction drive motor, induction pipe pressure is installed on described road wheel to be changed and controls reducing machine operation and then make diameter changing mechanism adapt to the walking pressure transducer that pipe diameter changes.
Entering before pipeline, first regulate reducing motor according to the diameter of pipeline and the needed maximal friction of advancing in pipeline, reducing driven by motor leading screw forward or reversion, thereby make the forward and backward movement of cross movable stand, thereby cross movable stand by reducing elastic supporting bar drive the opening and closing campaign of parallelogram connection-rod assembly realize road wheel assembly away from or approach staving center line, thereby the object of arrival reducing.
The walking wheel carrier that the precompression of road wheel and inner-walls of duct stretches out by reducing elastic supporting bar and resilient radial is realized, also need the force value that can make reducing machine operation that regulates walking pressure transducer to bear simultaneously, so just, can in pipeline, advance and provide reliable frictional force to walk smoothly for it, the walking wheel carrier that resilient radial is stretched out in the time running into obstacle can guarantee that each road wheel all contacts with inner-walls of duct or obstacle, thereby frictional force more is reliably provided.
And in tapered pipeline, the walking pressure transducer on road wheel can, to signal of reducing motor in the time that pipe diameter changes, contact with inner-walls of duct with the pressure of being scheduled to thereby make reducing motor forward or reversion realize road wheel.When becoming large when pipe diameter, the contact of road wheel and inner-walls of duct will reduce, thereby the pressure that the walking pressure transducer on road wheel bears also just reduces thereupon, at this moment the pressure transducer of walking will make reducing electric machine rotation and cross movable stand drives reducing elastic supporting bar that parallelogram connection-rod assembly is outwards opened to signal of reducing motor, thereby make wheel retainer have an outside thrust to road wheel, make the contact of the inwall of road wheel and pipeline become large, in the time again reaching predetermined force value, walking pressure transducer stops operating it to signal of reducing motor, thereby reach the requirement of reducing, in the time that pipe diameter diminishes, the contact of road wheel and inner-walls of duct increases, thereby the pressure that the walking pressure transducer on road wheel bears also just increases thereupon, thereby the pressure transducer of at this moment walking will rotate backward by parallelogram connection-rod assembly inward collapsible reducing motor to signal of reducing motor, thereby the pressure of road wheel and inner-walls of duct is reduced, and in the time reaching predetermined pressure, reducing motor stops operating.
For adapting to pipeline turning, forward and backward two of described road wheel assembly arranges respectively guide wheel assemblies, and described guide wheel assemblies is installed respectively at the guiding wheel carrier stretching out from the oblique front of wheel retainer and oblique rear elasticity; Described guide wheel assemblies is the assemblying body of upper saw pulley and upper saw pulley drive motor, induction turning pipeline is installed on described upper saw pulley and controls upper saw pulley drive motor and traction drive motor synchronously increases the pilot pressure sensor of rotating speed.
In the time running into turning, first upper saw pulley contacts inner-walls of duct, at this moment the pilot pressure sensor on upper saw pulley starts it signal of upper saw pulley drive motor of taking turns to this and the rotating speed of road wheel when faster than straightaway starts to rotate, each road wheel on same wheel retainer also starts to start to rotate with same rotating speed simultaneously, be positioned at like this rotating speed of road wheel in bend outside by faster than the rotating speed of road wheel that is positioned at curve inner side, so just can realize and pass through smoothly bend.
The pilot pressure sensor of installing on described upper saw pulley is by 360 ° of uniform settings, and each the stopped circumferential position of upper saw pulley is fixed, in the time that the angle of bend is different, the point of contact of upper saw pulley and inner-walls of duct is different, thereby the signal difference producing, and each signal arranges the rotating speed of a rational upper saw pulley in advance, the speed discrepancy that the road wheel of this rotating speed and curve inner side forms just can make it pass through smoothly bend, in the time of the bend of different amount, the rotating speed of the road wheel in its outside is also just different like this, the speed discrepancy of outer row travelling wheel and inner row travelling wheel is also just different, and speed discrepancy calculates in advance, so just can make traveling gear can both pass through smoothly bend in any one angle.
The oblique angle of stretching out of described guiding wheel carrier is 60 °～80 °.
Oblique preferably 70 ° of the angles of stretching out of described guiding wheel carrier.
Conventionally, described staving is chosen as cylinder.
The beneficial effect the utlity model has:
1, the utility model self adaption diameter pipeline robot walking device can change the radial expansion that automatically regulates road wheel according to the pressure of road wheel and inner-walls of duct, walking wheel carrier on wheel retainer by spring supporting, three road wheels can stretch out separately or bounce back, thereby be no matter that road wheel can well contact with inner-walls of duct at the pipeline of reducing or in having the pipeline of obstacle, thereby provide effective frictional force to walk in square pipe or circular pipe, even can also in the pipeline of vertically or at an angle placing, walk.
2, the pressure of the utility model employing upper saw pulley and tube wall and point of contact regulate the rotating speed of road wheel, make the road wheel in curve inner side and outside have different rotating speeds, thereby can turn round smoothly.
3, the utility model is equipped with after relevant accessory, can weld pipeline, install, detects and the operation such as maintenance.
(4) accompanying drawing explanation:
Fig. 1 is the structural representation of a kind of mode of execution of the utility model.
Fig. 2 is the sectional view of Fig. 1 mode of execution.
Fig. 3 is the structural representation of traveller.
Fig. 4 is the structural representation of diameter changing mechanism.
Figure number mark: 1, staving, 2, guide wheel assemblies, 3, road wheel assembly, 4, guiding wheel carrier, 5, walking wheel carrier, 6, wheel retainer, 7, parallelogram connection-rod assembly, 8, reducing elastic supporting bar, 9, retainer, 10, reducing motor, 11, leading screw; 12, cross movable stand.
(5) embodiment:
Below in conjunction with accompanying drawing illustrated embodiment, the technical solution of the utility model is described further.
The utility model self adaption diameter pipeline robot walking device is mainly made up of staving 1, diameter changing mechanism and traveller.
Described staving 1 adopts drum (compare with other shape, the volume maximum in cylinder, the convenient annex that other are installed, as storage battery etc.), and in cylinder, forward and backward position is vertically provided with retainer 9, as shown in Figure 1, Figure 2, Figure 4 shows.
Described diameter changing mechanism comprises reducing motor 10, leading screw 11, cross movable stand 12, reducing elastic supporting bar 8 and parallelogram connection-rod assembly 7, described leading screw 11 is with being located in cylinder, the two ends of leading screw 11 are by described retainer 9 location and installation, the output shaft of described reducing motor 10 is installed on an axle head of leading screw 11, described cross movable stand 12 is screwed and is connected with leading screw 11 by the nut that is fixed on center, and stretch out outside cylinder by four axial grooves offering on cylinder each termination of cross movable stand 12; Corresponding to each termination of cross movable stand 12, four groups of parallelogram connection-rod assemblies 7 arrange outward in cylinder, one end of parallelogram connection-rod assembly 7 and cylinder are hinged, four reducing elastic supporting bars 8 are respectively at arranging between each termination of cross movable stand 12 and corresponding parallelogram connection-rod assembly 7, the termination of one end of described reducing elastic supporting bar 8 and cross movable stand 12 is hinged, the other end and parallelogram connection-rod assembly 7 are hinged, as shown in Figure 1, Figure 2, Figure 4 shows.
Described traveller is located between cylinder and pipeline, be divided into four groups and correspond respectively to four parallelogram connection-rod assemblies 7, comprise guide wheel assemblies 2, road wheel assembly 3, guiding wheel carrier 4, walking wheel carrier 5 and wheel retainer 6, described wheel retainer 6 is hinged in the other end of parallelogram connection-rod assembly 7; Three walking wheel carriers 5 are installed on each wheel retainer 6, described walking wheel carrier 5 is arranged on wheel retainer 6 by chute perpendicular to axial direction, spring is housed in chute plays a supporting role to walking wheel carrier 5, on walking wheel carrier 5, road wheel assembly 3 is installed, described road wheel assembly 3 is the assemblying body of road wheel and traction drive motor, walking pressure transducer is installed on described road wheel, the pressure of described walking pressure transducer induction pipe changes and controls reducing motor 10 and work, and then makes diameter changing mechanism adapt to pipe diameter variation; Described guiding wheel carrier 4 is installed on the oblique front, forward and backward two ends and oblique rearward position of wheel retainer 6, described guiding wheel carrier 4 is connected with wheel retainer 6 by chute, spring is housed in chute guiding wheel carrier 4 is played to the effect of support, described guide wheel assemblies 2 is respectively at installing on forward and backward guiding wheel carrier 4, and described oblique hade degree is 70 °; Described guide wheel assemblies 2 is the assemblying body of upper saw pulley and upper saw pulley drive motor, pilot pressure sensor is installed on described upper saw pulley, described pilot pressure sensor sensing turning pipeline is also controlled upper saw pulley drive motor and traction drive motor synchronously increases rotating speed, as shown in Figure 1, Figure 2, Figure 3, Figure 4.
When the utility model is walked in circular pipe or square pipe, forward and backward guide wheel assemblies 2 does not work with tube contacts, and therefore now synchronized rotation of all road wheels contacting with tube wall can guarantee straight-line travelling.
And in the time turning, first the upper saw pulley being on bend outside contacts tube wall, at this moment the pilot pressure sensor on this upper saw pulley will be given the signal of upper saw pulley drive motor in this upper saw pulley, at this moment upper saw pulley is just started working, and rotating speed can to contact before tube wall the rotating speed of road wheel than it slightly quicker, the road wheel of this group also can rotate with the speed that the speed than original slightly quicker is and upper saw pulley is same simultaneously, the wheel that is in like this wheel on tube wall outside bend and be on curve inner side will produce a speed discrepancy, what turning will become like this is easy to, upper saw pulley also plays the effect of a support simultaneously.
The pilot pressure sensor being equipped with on upper saw pulley be distributed as 360 °, and each the stopped circumferential position of upper saw pulley is fixed, in the time that the angle of bend is different, the point of contact of upper saw pulley and inner-walls of duct is different, so the signal producing is also different, pilot pressure sensor in each angle goes out rational speed discrepancy through calculating and setting, and the rotating speed that upper saw pulley and wheel are increased just makes it pass through smoothly bend.
Claims (5)
1. self adaption diameter pipeline robot walking device, the diameter changing mechanism that comprise matrix, arranges based on matrix and the traveller arranging based on diameter changing mechanism, is characterized in that: described matrix is the staving (1) consistent with pipeline axial, described diameter changing mechanism comprises the screw mandrel (11) being driven by reducing motor (10), cross movable stand (12), reducing elastic supporting bar (8) and parallelogram connection-rod assembly (7), described screw mandrel (11) is by retainer (9) location and installation on staving (1) axis, described cross movable stand (12) screws by the nut and the screw mandrel (11) that are fixed on center in staving (1), the axial groove that the termination of cross movable stand (12) is offered by the upper correspondence of staving (1) stretches out outside staving (1), described parallelogram connection-rod assembly (7) each termination corresponding to cross movable stand (12) outside staving (1) arranges, one end of parallelogram connection-rod assembly (7) and staving (1) are hinged, described reducing elastic supporting bar (8) arranges and is hinged with both respectively between parallelogram connection-rod assembly (7) and the termination of cross movable stand (12), described traveller comprises wheel retainer (6), walking wheel carrier (5) and road wheel assembly (3), described wheel retainer (6) arranges and is hinged with parallelogram connection-rod assembly (7) the other end corresponding to each parallelogram connection-rod assembly (7), before some, the road wheel assembly (3) of rear axially-aligned is installed corresponding to the walking wheel carrier (5) stretching out from wheel retainer (6) radial elastic, described road wheel assembly (3) is the assemblying body of road wheel and traction drive motor, induction pipe pressure is installed on described road wheel to be changed and controls reducing motor (10) and work and then make diameter changing mechanism adapt to the walking pressure transducer that pipe diameter changes.
2. self adaption diameter pipeline robot walking device according to claim 1, it is characterized in that: forward and backward two of described road wheel assembly (3) arranges respectively guide wheel assemblies (2), described guide wheel assemblies (2) is installed respectively at the guiding wheel carrier (4) stretching out from the oblique front of wheel retainer (6) and oblique rear elasticity; Described guide wheel assemblies (2) is the assemblying body of upper saw pulley and upper saw pulley drive motor, induction turning pipeline is installed on described upper saw pulley and controls upper saw pulley drive motor and traction drive motor synchronously increases the pilot pressure sensor of rotating speed.
3. self adaption diameter pipeline robot walking device according to claim 2, is characterized in that: the oblique angle of stretching out of described guiding wheel carrier (4) is 60 °～80 °.
4. self adaption diameter pipeline robot walking device according to claim 3, is characterized in that: the oblique angle of stretching out of described guiding wheel carrier (4) is 70 °.
5. according to self adaption diameter pipeline robot walking device described in any one in claim 1～4, it is characterized in that: described staving (1) is cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320796765.1U CN203614993U (en) | 2013-12-06 | 2013-12-06 | Pipeline robot walking device capable of being automatically adapted to diameters |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320796765.1U CN203614993U (en) | 2013-12-06 | 2013-12-06 | Pipeline robot walking device capable of being automatically adapted to diameters |
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| CN203614993U true CN203614993U (en) | 2014-05-28 |
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| CN201320796765.1U Expired - Fee Related CN203614993U (en) | 2013-12-06 | 2013-12-06 | Pipeline robot walking device capable of being automatically adapted to diameters |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103644427A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| CN104832748A (en) * | 2015-05-07 | 2015-08-12 | 徐鹏飞 | High-flow speed and long-distance pipe adaptive inspection device |
| GB2530151A (en) * | 2014-07-15 | 2016-03-16 | Chevron Usa Inc | Methods and systems for maintaining a functional line for conveying fluid and pig assemblies for use therein |
| CN106015831A (en) * | 2016-06-16 | 2016-10-12 | 合肥工业大学 | Wheel type pipeline robot with steering of driving wheels being controllable |
| CN106247084A (en) * | 2016-06-18 | 2016-12-21 | 上海建工集团股份有限公司 | A kind of pipe inner position wheel construction and application thereof |
| CN106885097A (en) * | 2017-03-30 | 2017-06-23 | 江苏建筑职业技术学院 | A kind of underground pipe network probe vehicles |
| CN107489856A (en) * | 2017-09-11 | 2017-12-19 | 三峡大学 | Stepped pipe pipeline robot |
| CN108016608A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane undercarriage and unmanned plane |
| CN109047202A (en) * | 2018-08-23 | 2018-12-21 | 国家电网有限公司 | A kind of cable preheating embedding line inspection obstacle removing robot |
| CN112204294A (en) * | 2020-08-17 | 2021-01-08 | 哈尔滨工业大学（深圳） | Pipeline robot |
| CN112958551A (en) * | 2021-01-28 | 2021-06-15 | 桂林电子科技大学 | Variable-diameter pipeline inner wall cleaning and corrosion preventing robot and using method thereof |
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN115095338A (en) * | 2022-07-22 | 2022-09-23 | 中铁十六局集团地铁工程有限公司 | Supporting device of shield tunneling machine and control method thereof |
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2013
- 2013-12-06 CN CN201320796765.1U patent/CN203614993U/en not_active Expired - Fee Related
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103644427B (en) * | 2013-12-06 | 2016-05-04 | 桂林电子科技大学 | Self adaptation diameter pipeline robot walking device |
| CN103644427A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| US9662690B2 (en) | 2014-07-15 | 2017-05-30 | Chevron U.S.A. Inc. | Systems for maintaining a functional line for conveying fluid and pig assemblies for use therein |
| GB2530151A (en) * | 2014-07-15 | 2016-03-16 | Chevron Usa Inc | Methods and systems for maintaining a functional line for conveying fluid and pig assemblies for use therein |
| GB2530151B (en) * | 2014-07-15 | 2020-09-02 | Chevron Usa Inc | Methods and systems for maintaining a functional line for conveying fluid and pig assemblies for use therein |
| CN104832748A (en) * | 2015-05-07 | 2015-08-12 | 徐鹏飞 | High-flow speed and long-distance pipe adaptive inspection device |
| CN106015831A (en) * | 2016-06-16 | 2016-10-12 | 合肥工业大学 | Wheel type pipeline robot with steering of driving wheels being controllable |
| CN106247084A (en) * | 2016-06-18 | 2016-12-21 | 上海建工集团股份有限公司 | A kind of pipe inner position wheel construction and application thereof |
| CN106247084B (en) * | 2016-06-18 | 2019-01-29 | 上海建工集团股份有限公司 | A kind of pipe is interior to position wheel construction and its application |
| CN108016608A (en) * | 2016-10-31 | 2018-05-11 | 比亚迪股份有限公司 | Unmanned plane undercarriage and unmanned plane |
| CN108016608B (en) * | 2016-10-31 | 2020-05-22 | 比亚迪股份有限公司 | Unmanned aerial vehicle undercarriage and unmanned aerial vehicle |
| CN106885097A (en) * | 2017-03-30 | 2017-06-23 | 江苏建筑职业技术学院 | A kind of underground pipe network probe vehicles |
| CN107489856A (en) * | 2017-09-11 | 2017-12-19 | 三峡大学 | Stepped pipe pipeline robot |
| CN109047202A (en) * | 2018-08-23 | 2018-12-21 | 国家电网有限公司 | A kind of cable preheating embedding line inspection obstacle removing robot |
| CN112204294A (en) * | 2020-08-17 | 2021-01-08 | 哈尔滨工业大学（深圳） | Pipeline robot |
| WO2022036516A1 (en) * | 2020-08-17 | 2022-02-24 | 哈尔滨工业大学（深圳） | Pipe robot |
| CN112204294B (en) * | 2020-08-17 | 2022-07-22 | 哈尔滨工业大学（深圳） | Pipeline robot |
| CN112958551A (en) * | 2021-01-28 | 2021-06-15 | 桂林电子科技大学 | Variable-diameter pipeline inner wall cleaning and corrosion preventing robot and using method thereof |
| CN113700977A (en) * | 2021-08-24 | 2021-11-26 | 长缆电工科技股份有限公司 | Control method and control system for self-adaptive pipeline walking robot |
| CN115095338A (en) * | 2022-07-22 | 2022-09-23 | 中铁十六局集团地铁工程有限公司 | Supporting device of shield tunneling machine and control method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140528 Termination date: 20161206 |
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| CF01 | Termination of patent right due to non-payment of annual fee |