CN206112401U - Intelligent pipeline inner wall running gear - Google Patents
Intelligent pipeline inner wall running gear Download PDFInfo
- Publication number
- CN206112401U CN206112401U CN201621106411.XU CN201621106411U CN206112401U CN 206112401 U CN206112401 U CN 206112401U CN 201621106411 U CN201621106411 U CN 201621106411U CN 206112401 U CN206112401 U CN 206112401U
- Authority
- CN
- China
- Prior art keywords
- running gear
- pipeline
- action wheel
- lower limb
- control module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Abstract
The utility model provides an intelligent pipeline inner wall running gear, includes two organisms, connects through the universal joint between two organisms, running gear and flexible leg structure are do not installed to two tip not connecting of organism, in the course of the work, through the remote connection WIFI module, the control action wheel, the motor drive action wheel, the action wheel drives the organism and removes inside the pipeline, meetting under the condition of bend, through adjusting two action wheel motor rotation number, making asynchronous can the realization of two -wheeled rotational speed turn, when running into the unexpected reducing of pipeline, realize the pipe diameter adaptation through telescopic machanism, specifically exert pressure to the action wheel with from the driving wheel for the pipe wall, make three stand leg inwards draw in, drive sliding sleeve compression spring simultaneously, treat the pipe diameter back that returns to normal, promote the sliding sleeve and then drive the stand leg outwards to expand by the spring to adapt to new pipe diameter, the utility model has the characteristics of simple structure, convenient and practical.
Description
Technical field
This utility model belongs to robotics, more particularly to a kind of intelligent pipeline inwall running gear.
Background technology
Pipeline is the blood vessel of industrial circle, the raw material being responsible for needed for conveying engineering of all kinds, and being must not in commercial production
The means of transport that can lack.In pipeline, topmost transferring raw material is typically all liquid, due to pipeline own material defect or long-term
In service state, pipeline is particularly easy to the defects such as burn into rupture, fouling, causes pipeline transportation efficiency to decline, or even has
Security incident may be caused.Therefore, it is highly important periodically to carry out examination and maintenance to pipeline.Due to the general internal diameter of pipeline all
Smaller, it is impossible to accommodate people and inside pass through, the inspection generally for pipeline is investigated in pipeline external, this investigation
Method cannot intuitively see the situation inside pipeline, therefore many problems cannot be detected, and due to offices such as landform
It is sex-limited, detection efficiency is carried out to pipeline lowly from outside, quantities is huge, also easily misses many potential safety hazards.
Pipe robot is walked in inside pipeline, for detecting the robot of pipeline internal state.Pipe robot is
Realize what is detected inside pipeline and measurement data is passed back by operator's remote-controlled operation.The appearance of pipe robot is significantly
The workload and homework precision of conventional pipeline detection are alleviated, and improves work efficiency.Pipe robot the most frequently used at present
Crawler type, flight formula, wheeled, creeping-type and squirmy robot can be divided into from walking manner.Existing pipe robot knot
Structure is relatively complicated, and turn performance is weaker, easily occurs stuck phenomenon during turning.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the purpose of this utility model is to provide wallflow in a kind of intelligent pipeline
Walking apparatus, can be by programming realization to the remote detection inside pipeline, and strong with cornering ability, simple structure is convenient and practical
Feature.
For achieving the above object, the technical solution adopted in the utility model is：
A kind of intelligent pipeline inwall running gear, including two bodies 3, pass through universal joint 4 between two described bodies 3
It is attached, two not connected ends of body 3 are separately installed with Retractive leg structure and walking mechanism；
Described Retractive leg structure is included in guide post 7 and three stand legs 5 that each 3 end of body is installed, described machine
5 points of lower limb is a main frame lower limb and two slave lower limbs, at the top of two described slave lower limbs between be connected after by rotary way company
The end of body 3 is connected on, main frame lower limb is directly connected to the end of body 3 in a rotatable manner；Spring is provided with each stand leg 5
9, spring 9 is connected to 6 one end of support bar by sliding sleeve 8, and 6 other end of support bar is arranged on guide post 7 by sliding type；
The main frame lower limb bottom is provided with drivewheel 2, and slave lower limb bottom is provided with driven pulley 1；
Control device is equipped with described body 3, described control device includes control module, the signal of control module
Outfan connects photographic head respectively, and velocity sensor, the signal input part of infra-red inspection instrument, control module are set by external electrical
Standby to carry out remotely control, the outfan of the described control module signal of telecommunication connects the motor of drivewheel 2.
Three described stand legs 5 are distributed in umbrella shape around guide post 7.
Described drivewheel 2 is driving wheel, and driven pulley 1 is universal wheel.
The beneficial effects of the utility model：
Former and later two bodies 3 are connected using universal joint 4, it is ensured that there is preferable cornering ability in robot, effectively prevent machine
People is stuck during turning；3 points of body two is saved in front and back, can be carried various detection modules and sensor, be realized robot
Long-distance intelligent is operated and multifunction；Walking mechanism is constituted with wheel is operated alone using universal wheel, robot is further enhancing
Excessively curved ability；Be distributed the structure that combines with beveled structure using spring 9 is triangular in shape so that robot adapt to it is more not
Same caliber；Drivewheel 2 adopts rubber tyre with driven pulley 1, and due to rubber tyre, when inner-walls of duct is walked, frictional force is larger,
Ensure that the pull strength that robot is walked in pipeline internal.
Description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is this utility model control device structural representation.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described in further detail.
As shown in figure 1, a kind of intelligent pipeline inwall running gear, including two bodies 3, between two described bodies 3
It is attached by universal joint 4, two not connected ends of body 3 are separately installed with Retractive leg structure and walking mechanism；
Described Retractive leg structure is included in guide post 7 and three stand legs 5 that each 3 end of body is installed, described machine
5 points of lower limb is a main frame lower limb and two slave lower limbs, at the top of two described slave lower limbs between be connected after by rotary way company
The end of body 3 is connected on, main frame lower limb is directly connected to the end of body 3 in a rotatable manner；Spring is provided with each stand leg 5
9, spring (9) is connected to support bar (6) one end by sliding sleeve (8), and 6 other end of support bar is arranged on guide post by sliding type
On 7；
Main frame lower limb bottom is provided with drivewheel 2, and slave lower limb bottom is provided with driven pulley 1；
Three described stand legs 5 are distributed in umbrella shape around guide post 7.
Described drivewheel 2 is driving wheel, and driven pulley 1 is universal wheel.
As shown in Figure 2：Control device is equipped with described body 3, described control device includes control module, is controlled
The signal output part of module connects photographic head respectively, and velocity sensor, the signal input part of infra-red inspection instrument, control module pass through
External electronic device carries out remotely control, and the outfan of the described control module signal of telecommunication connects the motor of drivewheel 2.
Operation principle of the present utility model：
During work, remotely control connection is carried out by way of WIFI, control drivewheel 2, Motor drive master
Driving wheel 2, drivewheel 2 drive body 3 to move inside pipeline.In the case where bend is run into, by adjusting two actives
2 motor speeds are taken turns, the asynchronous i.e. achievable turning of two wheel speeds is made；When the unexpected reducing of pipeline is run into, by telescoping mechanism reality
Existing caliber is adapted to, specially：Tube wall applies pressure to drivewheel 2 and driven pulley 1, three stand legs 5 is inwardly drawn in, while driving
8 compression spring 9 of sliding sleeve, after caliber recovers normal, promotes sliding sleeve 8 by spring 9 and then drives stand leg 5 to expand outwardly, to adapt to
New caliber.
Claims (3)
1. a kind of intelligent pipeline inwall running gear, including two bodies (3), it is characterised in that two described bodies (3) it
Between be attached by universal joint (4), two not connected ends of body (3) are separately installed with Retractive leg structure and vehicle with walking machine
Structure；
Described Retractive leg structure is included in the guide post (7) of each body (3) end installation and three stand legs (5), described
Stand leg (5) is divided into a main frame lower limb and two slave lower limbs, at the top of two described slave lower limbs between be connected after by rotatable side
Formula is connected to the end of body (3), and main frame lower limb is directly connected to the end of body (3) in a rotatable manner；On each stand leg (5)
Spring (9) is provided with, spring (9) is connected to support bar (6) one end by sliding sleeve (8), and support bar (6) other end passes through slip side
Formula is arranged on guide post (7)；
Described main frame lower limb bottom is provided with drivewheel (2)；Slave lower limb bottom is provided with driven pulley (1)；
Control device is equipped with described body (3), described control device includes control module, and the signal of control module is defeated
Go out end and connect photographic head respectively, velocity sensor, the signal input part of infra-red inspection instrument, control module pass through external electronic device
Remotely control is carried out, the outfan of the described control module signal of telecommunication connects the motor of drivewheel (2).
2. a kind of intelligent pipeline inwall running gear according to claim 1, it is characterised in that three described stand legs
(5) it is distributed in umbrella shape around guide post (7).
3. a kind of intelligent pipeline inwall running gear according to claim 1, it is characterised in that described drivewheel (2)
For driving wheel, driven pulley (1) is universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621106411.XU CN206112401U (en) | 2016-10-09 | 2016-10-09 | Intelligent pipeline inner wall running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621106411.XU CN206112401U (en) | 2016-10-09 | 2016-10-09 | Intelligent pipeline inner wall running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206112401U true CN206112401U (en) | 2017-04-19 |
Family
ID=58528899
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621106411.XU Active CN206112401U (en) | 2016-10-09 | 2016-10-09 | Intelligent pipeline inner wall running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206112401U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe inner wall walking robot |
| CN109541713A (en) * | 2018-12-11 | 2019-03-29 | 国网新疆电力有限公司乌鲁木齐供电公司 | Remote-controlled pipe endoscopic monitoring device |
| CN111512085A (en) * | 2017-12-29 | 2020-08-07 | 韩国天然气公社 | Pipeline inspection device and operation method thereof |
-
2016
- 2016-10-09 CN CN201621106411.XU patent/CN206112401U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106439386A (en) * | 2016-10-09 | 2017-02-22 | 西安石油大学 | Intelligent pipe inner wall walking robot |
| CN106439386B (en) * | 2016-10-09 | 2021-03-02 | 西安石油大学 | Intelligent pipeline inner wall walking robot |
| CN111512085A (en) * | 2017-12-29 | 2020-08-07 | 韩国天然气公社 | Pipeline inspection device and operation method thereof |
| CN109541713A (en) * | 2018-12-11 | 2019-03-29 | 国网新疆电力有限公司乌鲁木齐供电公司 | Remote-controlled pipe endoscopic monitoring device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106439386A (en) | Intelligent pipe inner wall walking robot | |
| CN207094066U (en) | Pipe robot | |
| CN206112401U (en) | Intelligent pipeline inner wall running gear | |
| CN203611843U (en) | Novel coiled tubing operating vehicle set | |
| CN203743732U (en) | In-pipe walking support mechanism | |
| CN205938338U (en) | Spiral pipe inner wall defect image acquisition robot | |
| CN107191736B (en) | Four driving pipeline flexible climbing robots | |
| CN105927820A (en) | Pipeline robot capable of active steering | |
| CN207316352U (en) | A kind of pipeline climbing robot for being used to detect dredging | |
| CN107131391B (en) | A kind of adaptive screwdriven pipe robot | |
| CN204692902U (en) | A kind of support guide mechanism of pipeline cleaner of reducing | |
| CN105510082A (en) | Unmanned aerial vehicle sampling device for marine environmental monitoring | |
| CN205665049U (en) | River sampling device | |
| CN103672292A (en) | Pipeline robot | |
| CN204527591U (en) | For the detecting device of bridge under water | |
| CN112808194A (en) | Oil filter oil leakage detector based on information technology and operation method thereof | |
| CN101943576A (en) | Detection device of engineering machinery steering angle | |
| CN202203599U (en) | Adaptive pipeline trolley | |
| CN103322374B (en) | Cable-free type pipeline countercurrent crawl device | |
| CN208997559U (en) | A kind of cable-free type pipeline robot suitable for different tube diameters | |
| CN201811725U (en) | Steering angle detection device for construction machine | |
| CN208921666U (en) | A kind of multi-functional harness power transfer bogie | |
| CN203858256U (en) | Sample adding system | |
| CN203373052U (en) | Winch comprehensive monitoring device | |
| CN207192468U (en) | A kind of portable fire hose reel device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |