CN204922381U

CN204922381U - Device and pipeline robot are changed to remote control protection rope

Info

Publication number: CN204922381U
Application number: CN201520576936.9U
Authority: CN
Inventors: 苑雪山
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-08-04
Filing date: 2015-08-04
Publication date: 2015-12-30
Anticipated expiration: 2025-08-04

Abstract

The utility model provides a flexible and efficient device and pipeline robot are changed to remote control protection rope. The utility model discloses a device is changed to remote control protection rope, snatch mechanism and rope guide mechanism including the protection rope, protection rope and the guiding tube of cover on the protection rope on the guide base are fixed including the guide base by rope guide mechanism, guide base top is equipped with six nose bars, be equipped with an outwardly directed shell fragment on every face of six nose bars, the bottom cover of guiding tube is on six nose bars to fix on the guide base through the shell fragment, it is equipped with folding portion to lie in guiding tube department on the protection rope, the protection rope snatchs the mechanism and includes the motor, and the worm continuous with the motor with two worm wheels of worm complex, is fixed with the semicircular jaw clamp in the axis of rotation of every worm wheel, the free end of jaw clamp still is equipped with magnet and magnetic sensor.

Description

Remote protection rope more changing device and pipeline robot

Technical field

The utility model relates to a kind of pipeline robot, especially a kind of Remote protection rope more changing device and pipeline robot.

Background technique

Robot can substitute the mankind and enter hazardous environment operation; the under ground piping in especially a lot of city, the robot that adopts carries out checking, detecting and even repair more, but due to pipeline environment complexity; all need band protection rope, to utilize rope that robot is hauled out pipeline when robot encounters problems.

Due to needs protection rope, therefore pipeline robot many employings wired mode, utilize cable transmission electric power, control signal, return data and video etc.

Have the robot of cable can bring following several subject matter:

First be that motion is dumb, in pipeline operations, as in urban discharging pipeline testing process, generally need robot to enter pipeline from vertical shaft, then advance in horizontal pipe, owing to employing cable, robot is needed to have higher automatically powerful dragging capabilities, along with the increase of more big and heavy cable length, the frictional force on cable and ground can be more and more higher, causes robot motion more and more dumb.

The more important thing is that working efficiency reduces, in urban discharging pipeline testing process, because robot is with cable, after robot is put down vertical shaft, after in horizontal pipe, operation completes, can not take out from next vertical shaft, pipeline can only be exited along Yuan Lu, also synchronously to reclaim cable with robot simultaneously, avoid robot to damage cable, cause working efficiency greatly to reduce.

In addition; cable Long-Time Service can bring various damage; especially joint part, due to frequent bending and torsion, easily causes joint internal break; the faults such as bad connection; frequent plug cable in addition, also easily causes joint sealing tight, the serious problems such as water inlet Damage by Short Circuit; if cable coordinates bad with protection rope, also there is the problem that cable is pulled off.

Further, the distance between two adjacent well heads of the major trunk roads of drainage pipeline networks may reach 1 km to a few km, and robot is difficult to the heavy cable dragging length like this.

In the large-scale pipelines such as urban discharging pipeline; pipeline is generally straight line, the technology such as controlled in wireless, wireless video transmission full maturity, but due to robot itself need protect rope; so when do not protect Remote more changing device, adopt controlled in wireless have little significance.

In addition; when do not protect rope Remote more changing device; even if employ controlled in wireless; it also needs to tie down protection rope after one's death; also after there is a period of time that readvances; need reversed pipeline could change the problem of protection rope, therefore there is no obvious value and significance in actual job.

Current, international or domestic pipeline robot technique all adopts the mode of cable to control, as a kind of robot for detecting drainage pipeline video (201010170739.9) of Tsing-Hua University, the control system of Beijing Information Science & Technology University's detecting robot of pipe all adopts cable to be connected robot and control system with in method (201210581820.5).And also mention in the claim (explanation) of a kind of pipeline robot of adjustable crawler belt angle (201310690872.0) by control cable be connected with climbing robot.

The common issue of above robot adopts cable to connect robot, and signal transmission, cause robot greatly restricted, working efficiency reduces at double, also needs the problem such as heavy cable tray and special take up reel.

Model utility content

For solving the problem, the utility model provides a kind of flexible and efficient Remote protection rope more changing device and pipeline robot.

Realize the Remote protection rope more changing device of one of the utility model object, comprise protection rope grasping mechanism and rope guiding mechanism;

Described rope guiding mechanism comprises guide base, is fixed on the protection rope in guide base and is enclosed within the leading pipe on protection rope; Six nose bars are provided with above described guide base, each of described six nose bars is provided with an outwardly directed shell fragment, the bottom of described leading pipe is enclosed within six nose bars, and be fixed in guide base by shell fragment, on described protection rope, be positioned at leading pipe place and be provided with folded part, described protection rope is also fixedly connected with leading pipe, and this tie point is positioned at the top of described folded part;

Described protection rope grasping mechanism comprises motor, the worm screw be connected with motor, two worm gears coordinated with worm screw, the rotatingshaft of each worm gear is fixed with semicircular pawl folder; When the worm is rotated, drive two pawls folder simultaneously to fix centered by one end with rotatingshaft, inwardly or to inner rotary; The free end of described pawl folder is also provided with magnet and magnetic quantity transducer.

Realize the pipeline robot of the utility model object two, comprise rope guiding mechanism and car body, be positioned at the front camera in described car body front and be positioned at the rear camera at described car body rear; Described car body is provided with battery and antenna, and described car body rear is provided with protection rope grasping mechanism;

Described rope guiding mechanism comprises guide base, is fixed on the rope in guide base and is enclosed within the leading pipe on protection rope; Be provided with six nose bars above described guide base, each of described six nose bars is provided with an outwardly directed shell fragment, and the bottom of described leading pipe is enclosed within six nose bars, and is fixed in guide base by shell fragment;

Described protection rope grasping mechanism comprises motor, the worm screw be connected with motor, two worm gears coordinated with worm screw, the rotatingshaft of each worm gear is fixed with semicircular pawl folder; When the worm is rotated, drive two pawls folder simultaneously to fix centered by one end with rotatingshaft, inwardly or to inner rotary; The free end of a described pawl folder is also provided with magnet, and described in another, the free end of pawl folder is provided with magnetic quantity transducer.

The beneficial effect of Remote of the present utility model protection rope more changing device and pipeline robot is as follows:

1, Remote protection rope of the present utility model more changing device and pipeline robot, need not return to the place that it sets out, decrease idle work during retrogressing, improve the working efficiency of at least 2 times.

2, can drag thick heavy cable, and utilize light and handy wire rope, Kev such as to draw substitute at the rope, light and handy rope makes rope conduct oneself with dignity and frictional force declines, and robot can be made more flexible, and travel distance is longer, can use in the pipeline that well head distance is longer, Applicable scope is more extensive.

3, owing to not needing transmission cable and signal in protection rope, the problems such as the interface fracture that cable runs in using also just are not present in, and the longer service life of protection rope, cost significantly reduces.

4, owing to having abandoned big and heavy cable, make heavy cable take up reel can weight reduction greatly, even must not use, the deployment of Ling get robot be more flexible.

Therefore with the robot of Remote protection rope more changing device in pipe detection, dredging etc., improves at least 2 times of working efficiencies, use more flexibly and easily, there is more wide application prospect.

Accompanying drawing explanation

Fig. 1 is the structural representation of the Remote of the present utility model protection rope more protection rope grasping mechanism of changing device.

Fig. 2 is the schematic diagram one of the Remote of the present utility model protection rope more rope guiding mechanism of changing device.

Fig. 3 is the schematic diagram two of the Remote of the present utility model protection rope more rope guiding mechanism of changing device.

Fig. 4 is the structural representation of pipeline robot of the present utility model.

Fig. 5 is the partial duty schematic diagram one of pipeline robot of the present utility model.

Fig. 6 is the operating diagram two of pipeline robot of the present utility model.

Embodiment

As shown in Figures 1 to 3, Remote protection rope of the present utility model more changing device, comprises protection rope grasping mechanism 10 and rope guiding mechanism 20;

As shown in Figure 2,3, described rope guiding mechanism 20 comprises guide base 11, the leading pipe 13 being fixed on the protection rope 12 in guide base 11 and being enclosed within protection rope 12; Six nose bars 14 are provided with above described guide base 11, each of described six nose bars 14 is provided with an outwardly directed shell fragment 15, the bottom of described leading pipe 13 is enclosed within six nose bars 14, and be fixed in guide base 11 by shell fragment 15, on described protection rope 12, be positioned at leading pipe 13 place and be provided with folded part 16, described protection rope 12 is also fixedly connected with leading pipe 13, this tie point is positioned at the top of described folded part 16, has the surplus trailed when leading pipe 13 is opened;

As shown in Figure 1, described protection rope grasping mechanism comprises motor 1, the worm screw 2 be connected with motor 1, two worm gears 3 coordinated with worm screw 2, the rotatingshaft 4 of each worm gear 3 is fixed with semicircular pawl folder 5; When worm screw 2 is rotated, drive two pawls folder 5 to fix centered by one end by rotatingshaft 4, inwardly or to inner rotary simultaneously; The free end of described pawl folder 5 is also provided with magnet 7 and magnetic quantity transducer 6.

As shown in figures 4-6, pipeline robot of the present utility model, comprises rope guiding mechanism 20 and car body 21, is positioned at the front camera 22 in described car body 21 front and is positioned at the rear camera 24 at described car body 21 rear; Described car body 21 is provided with battery 23 and antenna 25, and described car body 21 rear is provided with protection rope grasping mechanism 10.

The worm and gear of Remote of the present utility model protection rope more changing device adopts the modulus with self-lock ability; can the pulling force of protection rope be born when pawl folder is closed and be unlikely to be opened; also with magnet and magnetic-inductive device on described pawl folder, be used for the opening and closing position of inspecting manipuator pawl.

When protection rope changed by needs; the rope guiding mechanism combined is put down from well head; near the rear portion being positioned over pipeline robot; opened by control system operation protection rope grasping mechanism; by rearview camera observer robot position; pipeline robot moves towards rope leading pipe, and rope leading pipe is caught in the middle of pawl folder by control claw folder.

When being confirmed that by camera and magnetic quantity transducer protection rope leading pipe is crawled behind pawl folder centre, pull protection rope, protection rope drives leading pipe to move upward, size due to guide base is greater than the space formed when pawl folder closes, guide base is stuck in the below of pawl folder, when pulling protection rope further, weight due to the car body of pipeline robot is greater than the frictional force of guiding device combination, the leading pipe of rope guiding mechanism can be pulled open, when leading pipe pulls open, the compacted shell fragment in the inside can eject, and the position flicked is positioned at the top of pawl folder just, guide base can be stuck on pawl folder by the shell fragment flicked.

In protection rope Renewal process; guide base is stuck on pawl folder by shell fragment; can prevent guide base from falling on the ground; therefore pipeline robot motion can not be affected; and protect rope to be linked together with pipeline robot by guide base and pawl folder; define and the protection rope of pipeline robot is connected, just complete the replacing of remote protecting rope.

After protection rope has been changed, the upper end of leading pipe, due to fixing with rope, therefore can ride on protection rope, not affect robot motion.

When robot motion is to next pipeline well head, need to abandon old protection rope and more renew protection rope time, repeat said method, just can the Remote protection rope that more renews.

The present invention changes protection rope more after changing device owing to have employed Remote; do not need robot back to the pipeline opening of setting out; robot is not needed to take out from pipeline yet; the protection rope that just more can be renewed by the mode of Remote; further work fast; therefore at least improve the working efficiency of more than 2 times, make the flexibly convenient of the use of robot.

Embodiment recited above is described preferred implementation of the present utility model; not scope of the present utility model is limited; do not departing under the utility model designs spiritual prerequisite; the various distortion that the common engineers and technicians in related domain make technical solutions of the utility model and improvement, all should fall in protection domain that claims of the present utility model determine.

Claims

1. Remote protection rope more changing device, is characterized in that: comprise protection rope grasping mechanism and rope guiding mechanism;

2. pipeline robot, is characterized in that: comprise rope guiding mechanism and car body, is positioned at the front camera in described car body front and is positioned at the rear camera at described car body rear; Described car body is provided with battery and antenna, and described car body rear is provided with protection rope grasping mechanism;