CN203880323U - Magnetic attraction pipeline robot - Google Patents
Magnetic attraction pipeline robot Download PDFInfo
- Publication number
- CN203880323U CN203880323U CN201420182405.7U CN201420182405U CN203880323U CN 203880323 U CN203880323 U CN 203880323U CN 201420182405 U CN201420182405 U CN 201420182405U CN 203880323 U CN203880323 U CN 203880323U
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- Prior art keywords
- wheel
- magnet
- magnetic
- permanent magnet
- pipeline robot
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- Expired - Fee Related
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- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 15
- 239000010959 steel Substances 0.000 claims description 15
- 238000003491 array Methods 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 abstract 1
- 238000001179 sorption measurement Methods 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000013049 sediment Substances 0.000 description 1
Abstract
The utility model discloses a magnetic attraction pipeline robot, and belongs to the technical field of magnetic attraction pipeline robots. The magnetic attraction pipeline robot comprises a center shaft. Flanges are fixed to the two ends of the center shaft. Sliding sleeves are movably installed the two ends of the center shaft. A plurality of magnet wheel walking mechanisms are uniformly distributed in the peripheral direction of the sliding sleeves and respectively comprise a magnet wheel support, a permanent magnet combined wheel and a driving device. The two ends of the magnet wheel supports are connected with the sliding sleeves at the two ends of the center shaft through flexible supports, the lower ends of the flexible supports are hinged to the sliding sleeves, the upper ends of the flexible supports are provided with groove-shaped arms hinged to the magnet wheel supports, the permanent magnet combined wheels and the driving devices are installed on the magnet wheel supports, and magnet wheel axles of the permanent magnet combined wheels are connected with the driving devices. According to the magnetic attraction pipeline robot, the arc-shaped magnetic conduction wheels have large attraction force, can be tightly attached to the pipe wall to walk and can roll flexibly, and the bearing capacity is greatly improved when the magnetic attraction pipeline robot climbs vertically.
Description
Technical field
The utility model relates to a kind of robot of can carrying implement walking at pipeline internal, belongs to adsorption type pipeline robot technique field.
Background technique
Existing pipeline robot can only be with the parallel walking of little load instrument short distance in dry pipeline, is mainly used in hotel, market, office building etc. and does the cleaning works of air-conditioning duct.Its main structure, can only be parallel taking wheeled, crawler as traveller, do not possess the ability of creeping up and down in tube wall, especially can not and have the water walking of working in having the environment of greasy dirt at vertical pipe, limited greatly using scope.
At present, under coal mine, the submarine oil-transportation of aqueduct and offshore oilfield (water) pipeline is because of its inner-walls of duct fouling or tie cured flow area and decline greatly after being on active service for many years, and through measuring, its flow area of some pipelines reduces 60%, has a strong impact on transfer efficiency.And the sediments of inner-walls of duct can make inner-walls of duct corrode to some extent, affects the life-span of pipeline, increase potential safety hazard.Therefore, in order transfer efficiency and the working life of improving pipeline to carry out periodic cleaning and anticorrosion to pipe interior and inner tube wall, to solve an above difficult problem by prior art, a kind of novel pipeline of market in urgent need robot, can be there being water to have in oily pipeline Portable device do the parallel or vertically walking of long distance.
Summary of the invention
In order to overcome above-mentioned the deficiencies in the prior art part, the utility model provides a kind of magnetic attached pipeline robot, compact structure, action are flexibly, possesses combination magnet-wheel, can in the steel pipe that has water dirt, carry large weight instrument do long distance parallel, turn, vertically walking, carry out scale removal, flaw detection, the operation such as anticorrosion.
The utility model is achieved by the following technical solution: the attached pipeline robot of a kind of magnetic, it comprises central shaft, two connecting ends of central shaft are fixed with flange, central shaft two ends are movably installed with flip sleeve, on the circumferencial direction of flip sleeve, be evenly equipped with some groups of magnet-wheel travellers, every group of magnet-wheel traveller comprises magnet-wheel support, permanent magnet combination wheel and drive unit, each magnet-wheel support two ends are connected with the flip sleeve at described central shaft two ends by flexible support, the lower end of each flexible support is hinged on flip sleeve, the upper end of flexible support is flute profile arm, flute profile arm and magnet-wheel support are hinged, described permanent magnet combination wheel and drive unit are arranged on magnet-wheel support, the magnet-wheel axle of permanent magnet combination wheel is connected with drive unit.
Described drive unit is oil hydraulic motor, and oil hydraulic motor is connected with described permanent magnet combination wheel by closed gearbox.
Several annular magnetic steels and several ring arc magnetic conduction wheels are installed on the magnet-wheel axle of the permanent magnet combination wheel described in every, annular magnetic steel and ring arc magnetic conduction wheel press that magnetic pole sequence is installed and to pass through locking nut fastening, between described ring arc magnetic conduction wheel, there is the groove being formed by magnetic conduction wheel sidepiece crossette, described annular magnetic steel is clipped in two grooves between adjacent ring arc magnetic conduction wheel, and the whole circumferential surface of the permanent magnet combination wheel described in every is made into the low arc in high both sides, the centre of matching with inner-walls of duct.
On described central shaft, be provided with the position-limit mechanism suitable with the flip sleeve of every end.
Described position-limit mechanism is position-limited shaft or step.
Described magnet-wheel traveller has three groups, and three groups of magnet-wheel travellers are arranged in equilateral triangle by center shaft axis Central Symmetry.
Permanent magnet combination wheel described in two is housed on each described magnet-wheel support, and two permanent magnet combination wheels are arranged in the two ends along central shaft axial direction on magnet-wheel support.
The beneficial effects of the utility model are:
1, the utility model ring arc magnetic conduction wheel has had powerful adsorption force, the whole circumferential surface of the permanent magnet combination wheel described in every is made into the arc matching with inner-walls of duct, can be close to tube wall, so carrying capacity improves greatly in the time of vertical crawling, and roll flexibly.
2, the utility model magnet-wheel traveller two ends are connected by flexible support, flexible support is connected with flip sleeve, flip sleeve can drive permanent magnet combination wheel to change and do stretchability adjustment with caliber at central shaft two ends, the wheel face and the tube wall that make are combined closely, keep powerful adsorption force, and rollability flexibly, position-limited shaft is limited in sliding scale flip sleeve, while needs, central shaft two end flange can be by being flexible coupling and the common operation of the attached pipeline robot of multiple magnetic, and carrying force is more powerful.The utility model can be realized pipe interior and inner tube wall are carried out to periodic cleaning and anticorrosion, improves transfer efficiency and the working life of pipeline.
3, the utility model compact structure, sturdy and durable, Security good, walking is flexible, load force is strong, ensured Security and the sealing of equipment, can adopt oil hydraulic motor to be used as power, the small and exquisite power of volume is powerful.Totally-enclosed gearbox and wheels modularization are installed, and make integral disassembly, assembly aspect, have high practicability.
Brief description of the drawings
According to drawings and embodiments the utility model is further illustrated below.
Fig. 1 is the utility model structural representation;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the utility model permanent magnet combination wheel construction schematic diagram.
In figure, 1, steel pipe, 2, position-limited shaft, 3, central shaft, 4, permanent magnet combination wheel, 4-1, ring arc magnetic conduction wheel, 4-2, annular magnetic steel, 4-3, locking nut, 4-4, magnet-wheel axle, 5, closed gearbox, 6, oil hydraulic motor, 7, flexible support, 8, flip sleeve, 9, flange, 10, magnet-wheel support.
Embodiment
As Fig. 1, the attached pipeline robot of a kind of magnetic shown in Fig. 2, it comprises central shaft 3, two connecting ends of central shaft 3 are fixed with flange 9, central shaft 3 two ends are movably installed with flip sleeve 8, on the circumferencial direction of flip sleeve 8, be evenly equipped with some groups of magnet-wheel travellers, every group of magnet-wheel traveller comprises magnet-wheel support 10, permanent magnet combination wheel 4 and drive unit, each magnet-wheel support 10 two ends are connected with the flip sleeve 8 at described central shaft 3 two ends by flexible support 7, the lower end of each flexible support 7 is hinged on flip sleeve 8, the upper end of flexible support 7 is flute profile arms, flute profile arm and magnet-wheel support 10 are hinged, described permanent magnet combination wheel 4 and drive unit are arranged on magnet-wheel support 10, the magnet-wheel axle 4-4 of permanent magnet combination wheel 4 is connected with drive unit.Flexible support 7 is connected with flip sleeve 8, and flip sleeve 8 can drive permanent magnet combination wheel magnet-wheel to change and do stretchability adjustment with steel pipe 1 diameter at central shaft 3 two ends, wheel face and steel pipe 1 wall are combined closely, and has kept powerful adsorption force and rollability flexibly.Position-limited shaft 2 is limited in sliding scale flip sleeve, and 3 liang of end flange 9 of central shaft can connect by soft connector and the attached pipeline robot of multiple magnetic, increase carrying force.
Described drive unit is oil hydraulic motor 6, and oil hydraulic motor 6 is connected with described permanent magnet combination wheel 4 by closed gearbox 5.
As shown in Figure 3, several annular magnetic steels 4-2 and several ring arc magnetic conduction wheels 4-1 are installed on the magnet-wheel axle 4-4 of the permanent magnet combination wheel 4 described in every, annular magnetic steel 4-2 and ring arc magnetic conduction wheel 4-1 press that magnetic pole sequence is installed and to pass through locking nut 4-3 fastening, between described ring arc magnetic conduction wheel 4-1, there is the groove being formed by magnetic conduction wheel sidepiece crossette, described annular magnetic steel 4-2 is clipped in two grooves between adjacent ring arc magnetic conduction wheel 4-1, and the whole circumferential surface of the permanent magnet combination wheel 4 described in every is made into the low arc in high both sides, the centre of matching with inner-walls of duct.Can on ring arc magnetic conduction wheel, produce than the magnetic adsorbability of large 8.5 times of magnet steel anchor ring according to drawing magnetic principle, therefore encircle arc magnetic conduction wheel and there is powerful adsorption force, so carrying capacity improves greatly in the time of vertical crawling, and roll flexibly.On described central shaft 3, be provided with the position-limit mechanism suitable with the flip sleeve 8 of every end.
Described position-limit mechanism is position-limited shaft 2 or step.
Described magnet-wheel traveller has three groups, and three groups of magnet-wheel travellers become equilateral triangle by central shaft 3 axis centre symmetric arrays.Walking is firm, maintenance is concentric.
4, two the permanent magnet combination wheels 4 of permanent magnet combination wheel that are equipped with on each described magnet-wheel support 10 described in two are arranged in the two ends along central shaft 3 axial directions on magnet-wheel support 10.
The utility model volume is small and exquisite, compact structure, sturdy and durable, Security good, walking is flexible, load force is strong, will produce in actual applications good economic benefit.
Claims (7)
1. the attached pipeline robot of magnetic, it is characterized in that: it comprises central shaft (3), two connecting ends of central shaft (3) are fixed with flange (9), central shaft (3) two ends are movably installed with flip sleeve (8), on the circumferencial direction of flip sleeve (8), be evenly equipped with some groups of magnet-wheel travellers, every group of magnet-wheel traveller comprises magnet-wheel support (10), permanent magnet combination wheel (4) and drive unit, each magnet-wheel support (10) two ends are connected with the flip sleeve (8) at described central shaft (3) two ends by flexible support (7), the lower end of each flexible support (7) is hinged on flip sleeve (8), the upper end of flexible support (7) is flute profile arm, flute profile arm and magnet-wheel support (10) are hinged, described permanent magnet combination wheel (4) and drive unit are arranged on magnet-wheel support (10), the magnet-wheel axle (4-4) of permanent magnet combination wheel (4) is connected with drive unit.
2. the attached pipeline robot of magnetic according to claim 1, is characterized in that: described drive unit is oil hydraulic motor (6), and oil hydraulic motor (6) is connected with described permanent magnet combination wheel (4) by closed gearbox (5).
3. the attached pipeline robot of magnetic according to claim 1, it is characterized in that: several annular magnetic steels (4-2) and several ring arc magnetic conduction wheels (4-1) are installed on the magnet-wheel axle (4-4) of the permanent magnet combination wheel (4) described in every, annular magnetic steel (4-2) and ring arc magnetic conduction wheel (4-1) press that magnetic pole sequence is installed and to pass through locking nut (4-3) fastening, between described ring arc magnetic conduction wheel (4-1), there is the groove being formed by magnetic conduction wheel sidepiece crossette, described annular magnetic steel (4-2) is clipped in the groove between two adjacent ring arc magnetic conduction wheels (4-1), the whole circumferential surface of the permanent magnet combination wheel (4) described in every is made into the low arc in high both sides, the centre of matching with inner-walls of duct.
4. the attached pipeline robot of magnetic according to claim 1, is characterized in that: on described central shaft (3), be provided with the position-limit mechanism suitable with the flip sleeve (8) of every end.
5. the attached pipeline robot of magnetic according to claim 4, is characterized in that: described position-limit mechanism is position-limited shaft (2) or step.
6. the attached pipeline robot of magnetic according to claim 1, is characterized in that: described magnet-wheel traveller has three groups, and three groups of magnet-wheel travellers become equilateral triangle by central shaft (3) axis centre symmetric arrays.
7. the attached pipeline robot of magnetic according to claim 1, it is characterized in that: the permanent magnet combination wheel (4) described in two is housed on each described magnet-wheel support (10), and two permanent magnet combination wheels (4) are arranged in the upper two ends along central shaft (3) axial direction of magnet-wheel support (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420182405.7U CN203880323U (en) | 2014-04-15 | 2014-04-15 | Magnetic attraction pipeline robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420182405.7U CN203880323U (en) | 2014-04-15 | 2014-04-15 | Magnetic attraction pipeline robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203880323U true CN203880323U (en) | 2014-10-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420182405.7U Expired - Fee Related CN203880323U (en) | 2014-04-15 | 2014-04-15 | Magnetic attraction pipeline robot |
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| Country | Link |
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| CN (1) | CN203880323U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041703A (en) * | 2015-07-22 | 2015-11-11 | 上海要要玖消防科技有限公司 | Coupling device for submersible pump |
| CN106043483A (en) * | 2016-06-13 | 2016-10-26 | 天津职业技术师范大学 | Large-scale vertical pipe type inner wall creeping robot |
| CN106185567A (en) * | 2016-08-31 | 2016-12-07 | 孟新 | Magnet-wheel adsorption-type emergency staircase |
| CN106192936A (en) * | 2016-08-17 | 2016-12-07 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembled large-sized concrete pipeline is creeped apparatus for work |
| CN107091903A (en) * | 2017-05-28 | 2017-08-25 | 南昌理工学院 | A kind of automatic checkout equipment |
| CN111963824A (en) * | 2020-08-24 | 2020-11-20 | 中山大学 | Auxiliary device for coating operation of inner wall of steel pipeline |
| CN112086260A (en) * | 2019-06-12 | 2020-12-15 | 中国石油天然气股份有限公司 | Demagnetizing device for pipeline |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
| CN114593308A (en) * | 2022-03-15 | 2022-06-07 | 樊清垒 | Robot chassis for oil smoke pipeline detection |
| CN114718508A (en) * | 2022-05-11 | 2022-07-08 | 长江大学 | Pipeline inner wall cleaning robot |
-
2014
- 2014-04-15 CN CN201420182405.7U patent/CN203880323U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041703A (en) * | 2015-07-22 | 2015-11-11 | 上海要要玖消防科技有限公司 | Coupling device for submersible pump |
| CN106043483B (en) * | 2016-06-13 | 2018-05-04 | 天津职业技术师范大学 | Large-scale vertical tubular type inner wall climbing robot |
| CN106043483A (en) * | 2016-06-13 | 2016-10-26 | 天津职业技术师范大学 | Large-scale vertical pipe type inner wall creeping robot |
| CN106192936B (en) * | 2016-08-17 | 2018-07-17 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembly type large-sized concrete pipeline is creeped apparatus for work |
| CN106192936A (en) * | 2016-08-17 | 2016-12-07 | 哈尔滨歌瑞得莱机器人制造有限公司 | Assembled large-sized concrete pipeline is creeped apparatus for work |
| CN106185567B (en) * | 2016-08-31 | 2018-06-26 | 徐州科思特表面工程技术有限公司 | Magnet-wheel absorption type emergency staircase |
| CN106185567A (en) * | 2016-08-31 | 2016-12-07 | 孟新 | Magnet-wheel adsorption-type emergency staircase |
| CN107091903A (en) * | 2017-05-28 | 2017-08-25 | 南昌理工学院 | A kind of automatic checkout equipment |
| CN112086260A (en) * | 2019-06-12 | 2020-12-15 | 中国石油天然气股份有限公司 | Demagnetizing device for pipeline |
| CN111963824A (en) * | 2020-08-24 | 2020-11-20 | 中山大学 | Auxiliary device for coating operation of inner wall of steel pipeline |
| CN113513657A (en) * | 2021-05-10 | 2021-10-19 | 北京化工大学 | A track type robot hinders running gear more for metal pipeline |
| CN114593308A (en) * | 2022-03-15 | 2022-06-07 | 樊清垒 | Robot chassis for oil smoke pipeline detection |
| CN114593308B (en) * | 2022-03-15 | 2023-11-24 | 江苏大发建设工程有限公司 | Robot chassis for detecting oil smoke pipeline |
| CN114718508A (en) * | 2022-05-11 | 2022-07-08 | 长江大学 | Pipeline inner wall cleaning robot |
| CN114718508B (en) * | 2022-05-11 | 2023-11-14 | 长江大学 | Pipeline inner wall cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20141015 |