CN209146596U - A kind of detecting robot of pipe - Google Patents
A kind of detecting robot of pipe Download PDFInfo
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- CN209146596U CN209146596U CN201822069404.2U CN201822069404U CN209146596U CN 209146596 U CN209146596 U CN 209146596U CN 201822069404 U CN201822069404 U CN 201822069404U CN 209146596 U CN209146596 U CN 209146596U
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- inner tube
- steering tube
- guide groove
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- 230000000386 athletic effect Effects 0.000 claims abstract description 35
- 238000010521 absorption reaction Methods 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims 1
- 238000003780 insertion Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model belongs to pipeline operations machine technology field more particularly to a kind of detecting robot of pipe；Athletic posture device and electric power supply control system function cabin are kept including automatically walk oil-gas pipeline tractor, it is separately installed with one group of automatically walk oil-gas pipeline tractor on three non-conterminous sides of electric power supply control system function cabin and keeps athletic posture device, it is that two symmetrically arranged automatically walk oil-gas pipeline tractors keep athletic posture device that one group of automatically walk oil-gas pipeline tractor, which keeps athletic posture device,；It is that one kind is easy to use, energy saving, processing speed is fast and the pipe detector of automatically calibrating posture.
Description
Technical field
The utility model belongs to pipeline operations machine technology field more particularly to a kind of detecting robot of pipe.
Background technique
Extensively using pipeline come pumped (conveying) medium in production and living, pipeline transportation has become and railway, highway, water people
Fortune, aviation one of carrier arranged side by side, play a crucial role in production and living.So the health status of pipeline needs
It periodically to be detected, but since pipeline inner space is limited and pipeline is laid with apart from longer, internal environment complexity, detection ratio
It is more difficult.Automatic checkout equipment common at present is towing line type remote manual control mode, seriously limits detection length and efficiency
It is lower.And there are also problems for full-automatic autonomous detection device novel in recent years, due to pipe bending, equipment is run in pipeline
When, detector between wall tire relative motion mileage difference cause equipment can occur in pipeline it is irregular circumferentially rotate,
Seriously affect the service life of equipment and the reliability of testing result.
Summary of the invention
In order to overcome above-mentioned deficiency, the utility model provides a kind of detecting robot of pipe, is a kind of easy to use, section
Can, processing speed is fast and the pipe detector of automatically calibrating posture.
The technical solution adopted in the utility model are as follows:
A kind of detecting robot of pipe, including automatically walk oil-gas pipeline tractor keep athletic posture device and for automatically controlled
System function cabin 8 processed is separately installed with one group of automatically walk oil on three non-conterminous sides of electric power supply control system function cabin 8
Feed channel tractor keeps athletic posture device, and it is two that one group of automatically walk oil-gas pipeline tractor, which keeps athletic posture device,
Symmetrically arranged automatically walk oil-gas pipeline tractor keeps athletic posture device；
It includes driving unit, vibration absorption unit, steering that wherein automatically walk oil-gas pipeline tractor, which keeps athletic posture device,
Unit and retainer unit, wherein driving unit includes tire 6, and vibration absorption unit includes damper 7, and steering unit includes steering tube
Outer tube 1, steering tube inner tube 2, steering tube inner tube locating snap ring 3 and rotary support 4, retainer unit include cantilever leg 5, transfer
It is hollow pipe to pipe outer tube 1 and steering tube inner tube 2, the diameter of steering tube inner tube 2 is less than steering tube outer tube 1；
Guide groove is equipped with inside steering tube outer tube 1, guide groove is divided into guide groove straight slot 12 and guide groove helicla flute section 13,
For guide groove straight slot 12 above guide groove helicla flute section 13, steering tube inner tube guide pin 22 passes through 2 lower section of steering tube inner tube simultaneously
It is fixed, and steering tube inner tube guide pin 22 is embedded in the guide groove straight slot 12 in steering tube outer tube 1, and can be along guide groove
Straight slot 12 and guide groove helicla flute section 13 are slided, so that steering tube inner tube 2 can be rotated and be stretched in steering tube outer tube 1,
Steering tube inner tube locating snap ring 3 is fixed in steering tube inner tube 2 by annular groove, is additionally provided with C-shaped support above steering tube inner tube 2
21, rotary support 4 is sleeved between the C-shaped support 21 in steering tube inner tube 2 and steering tube inner tube locating snap ring 3；
Rotary support 4 is cooperatively connected by rotary support pin shaft 41 and 5 hole axle of cantilever leg, and rotary support 4 can be around rotation
Turn 41 flexible rotating of support pin shaft, tire 6 is fixed on the fixation hole of C-shaped support 21；Damper 7 passes through pin shaft and cantilever leg
5 connections, and can flexible rotating；
Automatically walk oil-gas pipeline tractor keeps athletic posture device to be mounted on the tool in electric power supply control system function cabin 8
Body mode is as follows:
The fixed branch of two steering units is respectively fixed on three non-conterminous sides of electric power supply control system function cabin 8
Seat 81, two damper hold-down supports 82 and a cantilever leg fixing seat 83, two of them steering unit hold-down support 81 are solid
The both ends of 8 one side of electric power supply control system function cabin are scheduled on, cantilever leg fixing seat 83 is fixed on electric power supply control system function cabin 8
The middle part of one side；
Steering tube outer tube 1 is cooperatively connected using pin shaft and 81 hole axle of steering unit hold-down support, and steering tube outer tube 1 can be around pin
Axis rotation, one end that damper 7 is not connect with cantilever leg 5 are cooperatively connected by pin shaft and 82 hole axle of damper hold-down support；
Cantilever leg 5 is cooperatively connected by pin shaft and 83 hole axle of cantilever leg fixing seat；Two automatically walk Oil/Gas Pipes in each group
Road tractor keeps two cantilever legs 5 of athletic posture device to be installed on 8 one side of electric power supply control system function cabin
In cantilever leg fixing seat 83, realize that two in each group automatically walk oil-gas pipeline tractors keep athletic posture device to exist
It is symmetrically installed on the one side of electric power supply control system function cabin 8.
There are the seams of 0.2mm for the bottom end face of the C-shaped support 21 of 4 upper surface of rotary support and steering tube inner tube 2
Gap, there are the gaps 0.2mm with 3 upper surface of steering tube inner tube locating snap ring for 4 lower end surface of rotary support.
In the mating surface of the steering tube inner tube guide pin 22 and guide groove straight slot 12 and guide groove helicla flute section 13
Between there are gap and stretching motion it is smooth smooth.
The damper 12 need to be calculated according to whole weight and be chosen.
The tire 6 is hub motor tire, that is, large-torque electrical bicycle tyre.
The utility model has the beneficial effects that
Athletic posture is kept to keep horizontal in a small range always during exercise 1. detecting robot；
2. pure mechanic structure saves the energy, corresponding speed is fast；
3. it is simple and reliable for structure, it not will receive the interference of environment；
4. it is practical, it is a kind of wheeled detecting robot of pipe that can be used for a variety of calibers.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of utility model device.
Fig. 2 is that the automatically walk oil-gas pipeline tractor of utility model device keeps the signal of athletic posture apparatus structure
Figure.
Fig. 3 is that utility model device is applied to pipe detection situation schematic diagram.
Fig. 4 is that utility model device runs the situation schematic diagram that deflects in pipeline.
Fig. 5 is utility model device partial structure diagram.
Fig. 6 is utility model device partial structure diagram.
Fig. 7 is utility model device steering tube inner tube structure schematic diagram.
Fig. 8 is utility model device steering tube outer tube structure schematic diagram.
Fig. 9 is utility model device steering tube outer tube structure schematic diagram.
Wherein: 1 steering tube outer tube；11 steering tube outer tube pin holes；12 guide groove straight slots；13 guide groove helicla flute sections；2 turns
To pipe inner tube；21C type bracket；22 steering tube inner tube guide pins；3 steering tube inner tube locating snap rings；4 rotary supports；41 rotary supports
Pin shaft；5 cantilever legs；51 arm earth plates；6 tires；7 dampers；8 electric power supply control system function cabins；81 steering units are fixed
Support；82 damper hold-down supports；83 cantilever leg fixing seats；9 pipelines.
Specific embodiment
A kind of detecting robot of pipe, as shown in Figure 1, including that automatically walk oil-gas pipeline tractor keeps athletic posture dress
Set with electric power supply control system function cabin 8, be separately installed with one group on three non-conterminous sides of electric power supply control system function cabin 8
Automatically walk oil-gas pipeline tractor keeps athletic posture device, and one group of automatically walk oil-gas pipeline tractor keeps athletic posture
Device is that two symmetrically arranged automatically walk oil-gas pipeline tractors keep athletic posture device；
As shown in Fig. 2, Fig. 5, Fig. 6, Fig. 7, Fig. 8 and Fig. 9, wherein automatically walk oil-gas pipeline tractor keeps athletic posture
Device includes driving unit, vibration absorption unit, steering unit and retainer unit, and wherein driving unit includes tire 6, vibration absorption unit
Including damper 7, steering unit includes steering tube outer tube 1, steering tube inner tube 2, steering tube inner tube locating snap ring 3 and rotary support 4,
Retainer unit includes cantilever leg 5, and wherein steering tube outer tube 1 and steering tube inner tube 2 are hollow pipe, steering tube inner tube 2
Diameter is less than steering tube outer tube 1；
Setting is there are two steering tube outer tube pin hole 11 below steering tube outer tube 1, and inside is set there are two guide groove, and guide groove divides
For guide groove straight slot 12 and guide groove helicla flute section 13, guide groove straight slot 12 turns to above guide groove helicla flute section 13
Pipe inner tube guide pin 22 passes perpendicularly through 2 lower section of steering tube inner tube and fixes, and 22 both ends of steering tube inner tube guide pin are respectively embedded into
In two sections of guide groove straight slots 12 in steering tube outer tube 1, and can be along guide groove straight slot 12 and guide groove helicla flute section
13 slidings, so that steering tube inner tube 2 can be rotated and be stretched in steering tube outer tube 1, steering tube inner tube locating snap ring 3 passes through snap ring
Slot is fixed in steering tube inner tube 2, and C-shaped support 21 is additionally provided with above steering tube inner tube 2, and rotary support 4 is sleeved on steering tube
Between C-shaped support 21 in inner tube 2 and steering tube inner tube locating snap ring 3；Lubrication is added between rotary support 4 and steering tube inner tube 2
Agent；
Rotary support 4 is cooperatively connected by two rotary support pin shafts 41 and 5 hole axle of cantilever leg, and rotary support 4 can enclose
Around 41 flexible rotating of rotary support pin shaft, tire 6 is fixed on the fixation hole of C-shaped support 21；Damper 7 passes through pin shaft and cantilever
Supporting leg 5 connects, and can flexible rotating；Cantilever leg pedestal 111 is specially fixed on cantilever leg 5, damper 7 passes through pin shaft
It is cooperatively connected with 111 hole axle of arm earth plate, and damper 7 can surround pin shaft flexible rotating；
Automatically walk oil-gas pipeline tractor keeps athletic posture device to be mounted on the tool in electric power supply control system function cabin 8
Body mode is as follows:
The fixed branch of two steering units is respectively fixed on three non-conterminous sides of electric power supply control system function cabin 8
Seat 81, two damper hold-down supports 82 and a cantilever leg fixing seat 83, two of them steering unit hold-down support 81 are solid
The both ends of 8 one side of electric power supply control system function cabin are scheduled on, cantilever leg fixing seat 83 is fixed on electric power supply control system function cabin 8
The middle part of one side；
Steering tube outer tube 1 is connected by steering tube outer tube pin hole 11 using pin shaft and the cooperation of 81 hole axle of steering unit hold-down support
It connects, steering tube outer tube 1 can be rotated around pin shaft, and one end that damper 7 is not connect with cantilever leg 5 is fixed by pin shaft and damper
82 hole axle of support is cooperatively connected；Cantilever leg 5 is cooperatively connected by pin shaft and 83 hole axle of cantilever leg fixing seat；In each group
Two automatically walk oil-gas pipeline tractors keep two cantilever legs 5 of athletic posture device to be installed in electric power supply control system
In cantilever leg fixing seat 83 on 8 one side of function cabin, two automatically walk oil-gas pipeline tractors in each group are realized
Athletic posture device is kept to be symmetrically installed on the one side of electric power supply control system function cabin 8.
There are the seams of 0.2mm for the bottom end face of the C-shaped support 21 of 4 upper surface of rotary support and steering tube inner tube 2
Gap, there are the gaps 0.2mm with 3 upper surface of steering tube inner tube locating snap ring for 4 lower end surface of rotary support.
In the mating surface of the steering tube inner tube guide pin 22 and guide groove straight slot 12 and guide groove helicla flute section 13
Between there are gap and stretching motion it is smooth smooth.
The damper 12 need to be calculated according to whole weight and be chosen.
The tire 6 is hub motor tire, that is, large-torque electrical bicycle tyre.
3 groups of automatically walk oil-gas pipeline tractors keep uniformly being assemblied between every group of athletic posture device at 120 °
Electric power supply control system function cabin 8；Can flexibly stretch with assembling assembly motion parts rotation after the assembly is completed.
In use, detecting robot of pipe is put into pipeline, and two groups of automatically walk oil-gas pipeline tractors are protected
It holds athletic posture device and is located at duct bottom, one group of automatically walk oil-gas pipeline tractor keeps athletic posture device to be located at pipeline
Top, and three groups of automatically walk oil-gas pipeline tractors keep the tire 6 of athletic posture device to fit closely with 9 inner wall of pipeline；
Since steering tube inner tube guide pin 22 is located on guide groove, when the robot 9 middle and long distance of pipeline move when by
Having some bendings, elbow or barrier in pipeline leads to robot during the motion and can rotate as shown in figure 4, at this time
One group of automatically walk oil-gas pipeline tractor keeps athletic posture device to be located at 9 bottom of pipeline.
This group of automatically walk oil-gas pipeline tractor of bottom keeps athletic posture device because gravity consolidates institute at this time
The load of receiving can be far longer than other two groups, in damper 12 compressed, steering tube outer tube 1 and steering tube inner tube 2
Length of fit is elongated, and steering tube inner tube guide pin 22 moves to guide groove helicla flute section 13, steering tube by guide groove straight slot 12
The rotation of certain angle will occur for inner tube 2, so that detecting robot of pipe carries out autonomous helical rotation in pipeline 9 and is repositioned to
Fig. 3 initially prevents the case where machine, and when reaching Fig. 3 situation, two groups of automatically walk oil-gas pipeline tractors of bottom keep movement
The born pressure of orientation device is identical, and steering tube inner tube guide pin 22 moves to guide groove straight slot by guide groove helicla flute section 13
In 12；Admittedly can solve the problems, such as that existing detection machine runs deflection in the duct using the present apparatus.
Claims (4)
1. a kind of detecting robot of pipe, it is characterised in that keep athletic posture device including automatically walk oil-gas pipeline tractor
With electric power supply control system function cabin (8), one is separately installed on three non-conterminous sides of electric power supply control system function cabin (8)
Group automatically walk oil-gas pipeline tractor keeps athletic posture device, and one group of automatically walk oil-gas pipeline tractor keeps movement appearance
State device is that two symmetrically arranged automatically walk oil-gas pipeline tractors keep athletic posture device；
It includes driving unit, vibration absorption unit, steering unit that wherein automatically walk oil-gas pipeline tractor, which keeps athletic posture device,
With retainer unit, wherein driving unit includes tire (6), and vibration absorption unit includes damper (7), and steering unit includes steering tube
Outer tube (1), steering tube inner tube (2), steering tube inner tube locating snap ring (3) and rotary support (4), retainer unit include cantilever leg
(5), wherein steering tube outer tube (1) and steering tube inner tube (2) are hollow pipe, and the diameter of steering tube inner tube (2) is less than steering tube
Outer tube (1)；
Guide groove is equipped with inside steering tube outer tube (1), guide groove is divided into guide groove straight slot (12) and guide groove helicla flute section
(13), for guide groove straight slot (12) above guide groove helicla flute section (13), steering tube inner tube guide pin (22) passes through steering tube
It is below inner tube (2) and fixed, and the guide groove straight slot (12) in steering tube inner tube guide pin (22) insertion steering tube outer tube (1)
In, and can be slided along guide groove straight slot (12) and guide groove helicla flute section (13), so that steering tube inner tube (2) is turning to
It can rotate and stretch in pipe outer tube (1), steering tube inner tube locating snap ring (3) is fixed on steering tube inner tube (2) by annular groove,
It is additionally provided with C-shaped support (21) above steering tube inner tube (2), rotary support (4) is sleeved on the c-type branch on steering tube inner tube (2)
Between frame (21) and steering tube inner tube locating snap ring (3)；
Rotary support (4) is cooperatively connected by rotary support pin shaft (41) and cantilever leg (5) hole axle, and rotary support (4) can enclose
Around rotary support pin shaft (41) flexible rotating, tire (6) is fixed on the fixation hole of C-shaped support (21)；Damper (7) passes through pin
Axis is connect with cantilever leg (5), and can flexible rotating；
It is specific on electric power supply control system function cabin (8) that automatically walk oil-gas pipeline tractor keeps athletic posture device to be mounted on
Mode is as follows:
Two steering unit hold-down supports are respectively fixed on three non-conterminous sides of electric power supply control system function cabin (8)
(81), two damper hold-down supports (82) and a cantilever leg fixing seat (83), two of them steering unit hold-down support
(81) both ends of electric power supply control system function cabin (8) one side are fixed on, cantilever leg fixing seat (83) is fixed on power supply control
The middle part of system function cabin (8) one side；
Steering tube outer tube (1) is cooperatively connected using pin shaft and steering unit hold-down support (81) hole axle, and steering tube outer tube (1) can be around
Pin shaft rotation, one end that damper (7) is not connect with cantilever leg (5) is matched by pin shaft and damper hold-down support (82) hole axle
Close connection；Cantilever leg (5) is cooperatively connected by pin shaft and cantilever leg fixing seat (83) hole axle；Two in each group are automatic
Walking oil-gas pipeline tractor keeps two cantilever legs (5) of athletic posture device to be installed in electric power supply control system function cabin
(8) in the cantilever leg fixing seat (83) on one side, realize that two automatically walk oil-gas pipeline tractors in each group are protected
Athletic posture device is held to be symmetrically installed on the one side of electric power supply control system function cabin (8).
2. a kind of detecting robot of pipe according to claim 1, it is characterised in that described rotary support (4) upper surface
There are the gap of 0.2mm, rotary support (4) lower end surface and steerings with the bottom end face of the C-shaped support (21) of steering tube inner tube (2)
There are the gaps 0.2mm for pipe inner tube locating snap ring (3) upper surface.
3. a kind of detecting robot of pipe according to claim 1, it is characterised in that the steering tube inner tube guide pin
(22) with guide groove straight slot (12) among the mating surface of guide groove helicla flute section (13) there are gap and stretching motion it is smooth
It is smooth.
4. a kind of detecting robot of pipe according to claim 1, it is characterised in that the damper (7) need to be according to entirety
Weight calculate choose.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822069404.2U CN209146596U (en) | 2018-12-11 | 2018-12-11 | A kind of detecting robot of pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822069404.2U CN209146596U (en) | 2018-12-11 | 2018-12-11 | A kind of detecting robot of pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209146596U true CN209146596U (en) | 2019-07-23 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822069404.2U Expired - Fee Related CN209146596U (en) | 2018-12-11 | 2018-12-11 | A kind of detecting robot of pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209146596U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109357104A (en) * | 2018-12-11 | 2019-02-19 | 吕梁学院 | A kind of detecting robot of pipe |
| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | Variable-diameter pipeline robot |
-
2018
- 2018-12-11 CN CN201822069404.2U patent/CN209146596U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109357104A (en) * | 2018-12-11 | 2019-02-19 | 吕梁学院 | A kind of detecting robot of pipe |
| CN109357104B (en) * | 2018-12-11 | 2024-02-27 | 吕梁学院 | Pipeline detection robot |
| CN111271543A (en) * | 2020-02-04 | 2020-06-12 | 西安交通大学 | Variable-diameter pipeline robot |
| CN111271543B (en) * | 2020-02-04 | 2021-07-13 | 西安交通大学 | Variable-diameter pipeline robot |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190723 |