CN209819028U - Intelligent plugging robot in brake type pipeline - Google Patents
Intelligent plugging robot in brake type pipeline Download PDFInfo
- Publication number
- CN209819028U CN209819028U CN201920292275.5U CN201920292275U CN209819028U CN 209819028 U CN209819028 U CN 209819028U CN 201920292275 U CN201920292275 U CN 201920292275U CN 209819028 U CN209819028 U CN 209819028U
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- plugging
- speed
- anchoring
- pipeline
- regulating
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Abstract
Intelligent shutoff robot in brake formula pipeline belongs to pipeline maintenance robot technical field, and aim at solves the problem that the pipeline that prior art exists is complicated, with high costs, technical requirement is high and the required precision is high. The utility model comprises a speed-regulating plugging unit and a brake anchoring unit which are coaxially arranged along the axis of the pipeline to be plugged; the speed regulation plugging unit at least comprises a flow discharge speed regulation structure for regulating speed and an elastic deformation body for plugging; the speed is adjusted by adjusting the size of a discharge port of the discharge speed adjusting structure; the elastic deformation bodies are coaxially arranged with the pipeline to be plugged, and the elastic deformation bodies deform along the radial direction; the brake and locking of the whole robot relative to the inner wall of the pipeline to be blocked are realized through the brake anchor unit. The utility model discloses need two sets of cooperation work when the operation, difference lock in the both ends of waiting to maintain the pipeline, provide a space of sealing the isolation. The utility model discloses the drive is mechanical drive, solves the problem that the pipeline is complicated, with high costs, technical requirement is high and the required precision is high.
Description
Technical Field
The utility model belongs to the technical field of the pipeline maintenance robot, concretely relates to intelligent shutoff robot in brake formula pipeline.
Background
As the population of people on earth grows faster and faster, and the demand for resources by human beings is increasing, people have begun to move to the ocean for survival and development. The most important resource of the ocean is petroleum, and due to the complex and changeability of the ocean environment, the damage of the petroleum gas conveying pipeline caused by tide, earthquake, material defects and the like can be avoided in the long-term service process of the submarine petroleum gas conveying pipeline, so that the leakage of the petroleum gas can be caused, the ocean ecological environment is polluted and damaged, even the personal safety of offshore operators is endangered, and the great negative influence can be brought to the society.
In the prior art, in order to complete the maintenance and plugging work of the deep sea submarine pipeline, various intelligent plugging devices appear. The intelligent plugging device can be used for testing modules based on a hydraulic system, a sealing material, an automatic control system and the like and products thereof and simulating the motion of the whole system. The sensor and the control element of the plugging device need to be sealed, the sealing material is made of high-strength polyurethane, and the cable needs to be subjected to corrosion resistance treatment. The plugging device needs certain movement flexibility, and the connection of all the components is designed into ball rod hinge connection; the plugging device also needs to ensure the connection reliability of the hydraulic hose and is designed to be connected by an inner elastic sleeve and an outer elastic sleeve. The existing plugging device has the disadvantages of complex structure, application of hydraulic systems and the like, complex pipeline, high technical requirement, high precision requirement and high cost.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an intelligence shutoff robot in brake formula pipeline, the pipeline of solving prior art existence is complicated, with high costs, technical requirement is high and the required precision is high problem.
In order to achieve the purpose, the intelligent plugging robot in the brake type pipeline comprises a speed-regulating plugging unit and a brake anchor-retaining unit which are coaxially arranged along the axis of the pipeline to be plugged;
the speed regulation plugging unit at least comprises a flow discharge speed regulation structure for regulating speed and an elastic deformation body for plugging; the speed is adjusted by adjusting the size of a discharge port of the discharge speed adjusting structure; the elastic deformation bodies are arranged side by side and are coaxially arranged with a pipeline to be plugged, and the elastic deformation bodies deform along the radial direction;
the brake and locking of the whole robot relative to the inner wall of the pipeline to be blocked are realized through the brake anchor retaining unit.
The elastic deformation body is a sealing ring, and the sealing ring is extruded by axial force and deforms along the radial direction.
The brake anchor retaining unit at least comprises a fixed cone and an anchor claw which moves relative to the cone along the axial direction, and the anchor claw moves relative to the cone and presses the inner wall along the direction vertical to the inner wall of the pipeline to be blocked to realize locking.
The speed regulation plugging unit comprises
The speed regulation plugs the shell;
the plurality of speed-regulating plugging support wheels are arranged at two end parts of the outer wall of the speed-regulating plugging shell along the axial direction of the pipeline to be plugged, the plurality of speed-regulating plugging support wheels at each end part are uniformly distributed on the circumference, and the speed-regulating plugging support wheels are contacted with the inner wall of the pipeline to be plugged;
the drainage speed regulating valve is arranged in the speed regulating plugging shell along the axial direction of the pipeline to be plugged, the drainage speed regulating valve comprises a drainage hole communicated with two ends of the speed regulating plugging shell and a plugging body which moves relative to the drainage hole along the axial direction to regulate the opening size of the drainage hole, and the plugging body of the drainage speed regulating valve is driven to reciprocate by the speed regulating plugging driving unit;
at least two sealing rings coaxially arranged on the outer wall of the speed regulation plugging shell realize the adjustment of the medium flow on the two sides of the sealing rings through the matching movement of the drainage hole and the plugging body;
and the speed regulating plugging pressure-bearing part is fixedly connected with the plugging body.
The speed regulation plugging unit also comprises a plugging pressure-bearing ring, a plugging extrusion ring and a plugging pressure ring which are arranged on the speed regulation plugging shell; the axial width of the sealing ring is gradually increased from the inner ring to the outer ring; the two ends of the whole sealing ring are respectively attached to the end faces of the plugging pressure-bearing ring and the plugging pressure ring, the plugging extrusion ring is positioned between two adjacent speed-regulating plugging sealing rings, and the two end faces are respectively attached to the end faces of two adjacent sealing rings; the plugging pressure ring is in contact with the plugging pressure-bearing piece, and the speed-regulating plugging driving unit drives the plugging pressure-bearing piece to move axially to compress the sealing ring.
The speed regulation plugging driving unit comprises a motor, a speed regulation plugging gear reduction group, a speed regulation plugging lead screw pair and a speed regulation plugging guide post, wherein the motor, the speed regulation plugging gear reduction group, the speed regulation plugging lead screw pair and the speed regulation plugging guide post are arranged in the speed regulation plugging shell, the motor drives the speed regulation plugging lead screw pair to rotate through the speed regulation plugging gear reduction group, and the speed regulation plugging guide post and the speed regulation plugging lead screw pair drive the speed regulation plugging pressure-bearing part to reciprocate along the axial direction.
The brake anchor unit comprises:
one end of the anchor housing is connected with one end of the speed regulation plugging housing through a hinge;
a plurality of anchor holding supporting wheels are arranged at two end parts of the outer wall of the anchor holding shell along the axial direction of the pipeline to be plugged, and the anchor holding supporting wheels at each end part are uniformly distributed on the circumference;
the cone is fixed on the anchor housing, and the outer surface of the cone is a conical surface;
n anchor flukes are uniformly distributed on the circumference between the conical surface of the cone and the inner wall of the pipeline to be plugged, and the conical surface of the cone is in sliding fit with the anchor flukes;
the anchor holding pressure ring is sleeved on one end surface outside the anchor holding shell and is in contact with one end of the anchor fluke, and the anchor fluke is pushed to axially slide relative to the cone by the anchor holding pressure ring;
and the anchoring bearing piece is fixedly connected with the other end surface of the anchoring pressure ring and is extruded by the anchoring driving unit to move along the axis.
The brake anchor retaining unit further comprises n/2 brake rubber wheels uniformly distributed on the circumference, the value of n is an even number, and the n/2 brake rubber wheels are arranged on n/2 anchor flukes.
The anchor-retaining driving unit comprises an anchor-retaining screw rod pair, an anchor-retaining motor, an anchor-retaining gear speed reducing set and an anchor-retaining guide post which are arranged in the anchor-retaining shell, the anchor-retaining motor drives the anchor-retaining screw rod pair to rotate through the anchor-retaining gear speed reducing set, and the anchor-retaining pressure bearing piece is driven to reciprocate along the axial direction through the guide of the anchor-retaining guide post and the anchor-retaining screw rod pair.
The utility model has the advantages that: the utility model discloses an intelligent plugging robot is for having the plugging robot of independent drive speed governing unit in the brake formula pipeline, and its overall structure is stayed anchor unit by speed governing plugging unit and brake and is constituted. The robot isolates media in a pipeline into an upstream part and a downstream part by using the speed-regulating plugging unit, the pressure difference between the upstream part and the downstream part generates driving force to drive the robot to move forwards along the pipeline, and the speed-regulating unit controls the moving speed of the robot by regulating the discharge quantity in the moving process of the robot, so that the robot can move forwards at full speed in a long distance, decelerate at a short distance and stop accurately; when the robot moves to a plugging target position, the speed-regulating plugging unit reduces the moving speed of the robot, the brake anchor-retaining unit realizes braking through the brake rubber wheel and locks the robot and the pipe wall through the fluke, and reliable anchor retaining of the robot in the pipeline is realized; after the robot is anchored and locked, the speed regulation plugging unit realizes the isolation and plugging of media in the pipeline through compressing the sealing ring. The robot needs two groups of matched work during operation, the two groups of robots are placed into a pipeline in sequence, the two groups of robots are positioned and locked at two ends of the pipeline to be maintained respectively, and a closed and isolated space is provided for pipeline replacement, maintenance and repair after pipeline plugging is carried out. The utility model discloses the drive is mechanical drive, solves the pipeline complicacy that prior art exists, with high costs, technical requirement height and the high problem of required precision.
Drawings
Fig. 1 is a schematic view of the overall structure of the intelligent plugging robot in the brake type pipeline;
FIG. 2 is a left side view of FIG. 1;
fig. 3 is a schematic structural view of a speed-adjusting plugging unit in the intelligent plugging robot in the brake type pipeline;
fig. 4 is a schematic structural view of a brake anchor retaining unit in the intelligent plugging robot in the brake type pipeline of the present invention;
wherein: 1. the speed-regulating plugging device comprises a speed-regulating plugging unit, 101, a speed-regulating plugging shell, 102, a speed-regulating plugging support wheel, 103, a flow-discharging speed-regulating valve, 104, a flow-discharging hole, 105, a plugging body, 106, a sealing ring, 107, a speed-regulating plugging pressure-bearing part, 108, a motor, 109, a speed-regulating plugging lead screw pair, 110, a speed-regulating plugging gear speed-reducing group, 111, a speed-regulating plugging guide column, 112, a plugging pressure-bearing ring, 113, a plugging extrusion ring, 114, a plugging pressure ring, 2, a brake anchor-holding unit, 201, an anchor-holding shell, 202, an anchor-holding support wheel, 203, a cone, 204, an anchor claw, 205, an anchor-holding pressure ring, 206, an anchor-holding pressure-bearing part, 207, an anchor-holding motor, 208, an anchor-holding gear speed-reducing group, 209, an anchor-.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Referring to the attached drawings 1 and 2, the intelligent plugging robot in the brake type pipeline comprises a speed-regulating plugging unit 1 and a brake anchor-retaining unit 2 which are coaxially arranged along the axis of the pipeline to be plugged;
the speed regulation plugging unit 1 at least comprises a flow discharge speed regulation structure for regulating speed and an elastic deformation body for plugging; the speed is adjusted by adjusting the size of a discharge port of the discharge speed adjusting structure; the elastic deformation bodies are arranged side by side and are coaxially arranged with a pipeline to be plugged, and the elastic deformation bodies deform along the radial direction;
the brake and locking of the whole robot relative to the inner wall of the pipeline to be blocked are realized through the brake anchor retaining unit 2.
The elastic deformation body is a sealing ring 106, and the sealing ring 106 is extruded by axial force and deforms along the radial direction.
The brake anchor block unit 2 at least comprises a fixed cone 203 and a fluke 204 which moves along the axial direction relative to the cone 203, and the fluke 204 moves relative to the cone 203 and presses the inner wall along the direction vertical to the inner wall of the pipeline to be blocked to realize locking.
Referring to fig. 3, the speed regulation plugging unit 1 comprises
A speed regulating plugging shell 101;
the plurality of speed-regulating plugging support wheels 102 are arranged at two end parts of the outer wall of the speed-regulating plugging shell 101 along the axial direction of the pipeline to be plugged, the plurality of speed-regulating plugging support wheels 102 at each end part are uniformly distributed on the circumference, and the speed-regulating plugging support wheels 102 are in contact with the inner wall of the pipeline to be plugged;
the drainage speed regulating valve 103 is arranged in the speed regulating plugging shell 101 along the axial direction of the pipeline to be plugged, the drainage speed regulating valve 103 comprises a drainage hole 104 communicated with two ends of the speed regulating plugging shell 101 and a plugging body 105 which moves relative to the drainage hole 104 along the axial direction to regulate the opening size of the drainage hole 104, and the plugging body 105 of the drainage speed regulating valve 103 is driven to reciprocate by a speed regulating plugging driving unit;
at least two sealing rings 106 coaxially arranged on the outer wall of the speed regulation plugging shell 101, and the medium flow on the two sides of the sealing rings 106 is adjusted through the matching motion of the drainage hole 104 and the plugging body 105; the medium referred to in the application is the medium circulating in the pipeline with the plug, and can be water, gas, oil and the like;
and a speed regulating plugging pressure bearing member 107 fixedly connected with the plugging body 105.
The speed regulation plugging unit 1 further comprises a plugging pressure ring 112, a plugging extrusion ring 113 and a plugging pressure ring 114 which are arranged on the speed regulation plugging shell 101; the axial width of the sealing ring 106 from the inner ring to the outer ring is gradually increased; two ends of the whole sealing ring 106 are respectively attached to the end faces of the plugging pressure-bearing ring 112 and the plugging pressure ring 114, the plugging extrusion ring 113 is positioned between two adjacent speed-regulating plugging sealing rings 106, and two end faces are respectively attached to the end faces of two adjacent sealing rings 106; the plugging pressure ring 114 contacts with the plugging pressure-bearing piece, and the sealing ring 106 is compressed by driving the plugging pressure-bearing piece to move axially through the speed-regulating plugging driving unit.
The speed regulation plugging driving unit comprises a motor 108, a speed regulation plugging gear reduction group 110, a speed regulation plugging screw pair 109 and a speed regulation plugging guide post 111 which are arranged in the speed regulation plugging shell 101, wherein the motor 108 drives the speed regulation plugging screw pair 109 to rotate through the speed regulation plugging gear reduction group 110, and drives the speed regulation plugging pressure-bearing part 107 to reciprocate along the axial direction through the speed regulation plugging guide post 111 and the speed regulation plugging screw pair 109.
Two ends of a speed regulating plugging shell 101 of the speed regulating plugging unit 1 are provided with speed regulating plugging support wheels 102, so that the robot can move in a pipeline with low resistance; the double sealing rings 106 can effectively utilize the medium pressure difference to generate the driving force for advancing, so that the robot moves forwards in the pipeline; after the motor 108 reduces the speed and increases the moment through the speed-regulating plugging gear reduction group 110, the motor drives the speed-regulating plugging pressure-bearing part 107 to axially move through the transmission of the speed-regulating plugging lead screw pair 109 and the guidance of the speed-regulating plugging guide post 111, the opening size of the flow discharge port is adjusted, so that the change of the flow discharge is controlled, the pressure difference change at the two ends of the robot is controlled through the regulation and control of the flow discharge, and the adjustment of the advancing speed is further realized; when plugging is needed, the speed-regulating plugging pressure-bearing piece 107 pushes the plugging pressure ring 114 and the plugging extrusion ring 113 to compress the axial size of the sealing ring 106, so that the sealing ring is forced to radially expand and deform, and the blocking and sealing of the medium are realized.
Referring to fig. 4, the brake anchoring unit 2 includes:
one end of the anchor housing 201 is connected with one end of the speed regulation plugging housing 101 through a hinge;
a plurality of anchor holding support wheels 202 arranged at two end parts of the outer wall of the anchor holding shell 201 along the axial direction of the pipeline to be plugged, wherein the anchor holding support wheels 202 at each end part are uniformly distributed on the circumference;
a cone 203 fixed on the anchoring shell 201, wherein the outer surface of the cone 203 is a conical surface;
six flukes 204 which are uniformly distributed on the circumference are arranged between the conical surface of the cone 203 and the inner wall of the pipeline to be plugged, and the conical surface of the cone 203 is in sliding fit with the flukes 204;
an anchor holding pressure ring 205 which is sleeved on one end surface of the anchor holding shell 201 and is contacted with one end of the fluke 204, and the fluke 204 is pushed to slide along the axial direction relative to the cone 203 by the anchor holding pressure ring 205;
and a mooring holding pressure piece 206 fixedly connected with the other end surface of the mooring holding pressure ring 205, and the mooring holding pressure piece 206 is extruded by the mooring driving unit to move along the axis.
The brake anchor unit 2 further comprises three brake rubber wheels 211, the number of the brake rubber wheels 211 is three, the three brake rubber wheels 211 are arranged on the three anchor flukes 204, and the three anchor flukes 204 provided with the brake rubber wheels 211 and the three anchor flukes 204 without the brake rubber wheels 211 are arranged in a staggered mode.
The anchoring driving unit comprises an anchoring screw pair 209, an anchoring motor 207, an anchoring gear speed reducing set 208 and an anchoring guide post 210 which are arranged in the anchoring shell 201, wherein the anchoring motor 207 drives the anchoring screw pair 209 to rotate through the anchoring gear speed reducing set 208, and drives the anchoring bearing piece 206 to reciprocate along the axial direction through the anchoring screw pair 209 under the guiding of the anchoring guide post 210.
Anchor holding support wheels 202 are arranged at two ends of the anchor holding shell 201 to ensure that the robot can move in the pipeline with low resistance; the anchoring motor 207 is arranged in the anchoring shell 201, after the anchoring motor 207 reduces the speed and increases the torque through the anchoring gear speed reducing group 208, the power is transmitted to the anchoring lead screw pair 209, under the driving of the anchoring lead screw pair 209 and the guiding action of the anchoring guide post 210, the anchoring pressure bearing piece 206 and the anchoring pressure ring 205 move along the axial direction of the robot shell, the anchoring pressure ring 205 firstly pushes the brake wheel to generate radial displacement along the cone 203 by utilizing the conical surface, so that the robot is further decelerated to brake in the pipeline, the anchoring pressure ring 205 continues to move axially, at the moment, the brake rubber wheel 211 elastically contracts, the anchor claw 204 is in contact with the inner wall of the pipeline, and the thrust acting on the anchor claw 204 is continuously increased along with the loading of the motor, thereby realizing the reliable locking of the robot in the pipeline.
The speed regulation plugging support wheel 102 and the anchor holding support wheel 202 in this embodiment have the same structure, and the connection relationship between the speed regulation plugging shell 101 and the anchor holding shell 201 is also the same, taking the structure of the speed regulation plugging support wheel 102 and the connection between the speed regulation plugging support wheel and the speed regulation plugging shell 101 as an example: the speed-regulating plugging support wheel 102 comprises a support frame perpendicular to the flow direction of the fluid, a support spring arranged in the support frame in the flow direction of the fluid and a support wheel body connected with the upper end of the support frame through a pin shaft, wherein the pin shaft is perpendicular to the flow direction of the fluid and perpendicular to the support frame, one end of the support spring is in contact with one end inside the support frame, the other end of the support spring is in contact with the outer cylindrical surface of the pin shaft, the support wheel body not only provides forward friction force for the robot, but also realizes micro diameter change of the robot through the support spring, and provides guarantee for smooth passing through a bent pipe; meanwhile, the robot is supported, and the operation process of the robot in the pipeline is guaranteed.
The hinge connection structure between the speed regulation plugging unit 1 and the brake anchor retaining unit 2 in the implementation specifically comprises: two ends of the middle connecting rod are respectively matched with one ends of the two branch connecting rods in a rotating mode, and the other ends of the two branch connecting rods are respectively hinged with the speed regulation plugging shell 101 and the anchoring shell 201.
Claims (9)
1. The intelligent plugging robot in the brake type pipeline is characterized by comprising a speed-regulating plugging unit (1) and a brake anchor-retaining unit (2) which are coaxially arranged along the axis of the pipeline to be plugged;
the speed regulation plugging unit (1) at least comprises a flow discharge speed regulation structure for regulating speed and an elastic deformation body for plugging; the speed is adjusted by adjusting the size of a discharge port of the discharge speed adjusting structure; the elastic deformation bodies are arranged side by side and are coaxially arranged with a pipeline to be plugged, and the elastic deformation bodies deform along the radial direction;
the brake and locking of the whole robot relative to the inner wall of the pipeline to be blocked are realized through the brake anchor retaining unit (2).
2. The intelligent plugging robot in brake type pipeline according to claim 1, wherein said elastic deformation body is a sealing ring (106), and said sealing ring (106) is extruded by axial force and deformed in radial direction.
3. The intelligent blocking robot in brake type pipeline according to claim 1, characterized in that the brake anchor unit (2) at least comprises a fixed cone (203) and a fluke (204) moving axially relative to the cone (203), and the fluke (204) moves relative to the cone (203) to press the inner wall in the direction perpendicular to the inner wall of the pipeline to be blocked to realize locking.
4. Brake type pipe-in-intelligence plugging robot according to any of claims 1-3, characterized in that the speed-regulating plugging unit (1) comprises
A speed regulation plugging shell (101);
the plurality of speed-regulating plugging support wheels (102) are arranged at two end parts of the outer wall of the speed-regulating plugging shell (101) along the axial direction of the pipeline to be plugged, the plurality of speed-regulating plugging support wheels (102) at each end part are uniformly distributed on the circumference, and the speed-regulating plugging support wheels (102) are in contact with the inner wall of the pipeline to be plugged;
the drainage speed regulating valve (103) is arranged in the speed regulating plugging shell (101) along the axial direction of the pipeline to be plugged, the drainage speed regulating valve (103) comprises a drainage hole (104) communicated with two ends of the speed regulating plugging shell (101) and a plugging body (105) which moves relative to the drainage hole (104) along the axial direction to adjust the opening size of the drainage hole (104), and the plugging body (105) of the drainage speed regulating valve (103) is driven to reciprocate by the speed regulating plugging driving unit;
at least two sealing rings (106) coaxially arranged on the outer wall of the speed regulation plugging shell (101), and the medium flow on the two sides of each sealing ring (106) is adjusted through the matching movement of the drainage hole (104) and the plugging body (105);
and a speed regulating plugging pressure-bearing part (107) fixedly connected with the plugging body (105).
5. The intelligent plugging robot in the brake type pipeline according to claim 4, wherein the speed regulation plugging unit (1) further comprises a plugging pressure ring (112), a plugging extrusion ring (113) and a plugging pressure ring (114) which are arranged on the speed regulation plugging shell (101); the axial width of the sealing ring (106) is gradually increased from the inner ring to the outer ring; the two ends of the whole sealing ring (106) are respectively attached to the end faces of the plugging pressure-bearing ring (112) and the plugging pressure ring (114), the plugging extrusion ring (113) is positioned between two adjacent speed-regulating plugging sealing rings (106), and the two end faces are respectively attached to the end faces of two adjacent sealing rings (106); the plugging pressure ring (114) is in contact with the plugging pressure-bearing piece, and the speed-regulating plugging driving unit drives the plugging pressure-bearing piece to move axially to compress the sealing ring (106).
6. The intelligent plugging robot in the brake type pipeline according to claim 4, wherein the speed regulation plugging driving unit comprises a motor (108), a speed regulation plugging gear reduction set (110), a speed regulation plugging screw pair (109) and a speed regulation plugging guide post (111) which are arranged inside the speed regulation plugging shell (101), the motor (108) drives the speed regulation plugging screw pair (109) to rotate through the speed regulation plugging gear reduction set (110), and the speed regulation plugging pressure bearing part (107) is driven to reciprocate axially through the speed regulation plugging guide post (111) and the speed regulation plugging screw pair (109).
7. The intelligent plugging robot in brake type pipeline according to claim 4, wherein said brake anchor retaining unit (2) comprises:
the speed regulation plugging device comprises a anchoring shell (201), wherein one end of the anchoring shell (201) is connected with one end of the speed regulation plugging shell (101) through a hinge;
the anchor-holding support wheels (202) are arranged at two end parts of the outer wall of the anchor-holding shell (201) along the axial direction of the pipeline to be plugged, and the anchor-holding support wheels (202) at each end part are uniformly distributed on the circumference;
a cone (203) fixed on the anchoring shell (201), wherein the outer surface of the cone (203) is a conical surface;
n anchor flukes (204) are uniformly distributed on the circumference between the conical surface of the cone (203) and the inner wall of the pipeline to be plugged, and the conical surface of the cone (203) is in sliding fit with the anchor flukes (204);
the anchoring pressure ring (205) is sleeved on one end surface of the anchoring shell (201) and is in contact with one end of the fluke (204), and the fluke (204) is pushed to slide along the axial direction relative to the cone (203) through the anchoring pressure ring (205);
and the anchoring bearing piece (206) is fixedly connected with the other end surface of the anchoring pressure ring (205), and the anchoring bearing piece (206) is extruded by the anchoring driving unit to move along the axis.
8. The intelligent plugging robot in brake type pipeline according to claim 7, wherein said brake anchor-holding unit (2) further comprises n/2 brake rubber wheels (211) uniformly distributed circumferentially, the value of n is even number, and n/2 said brake rubber wheels (211) are arranged on n/2 flukes (204).
9. The intelligent plugging robot in the brake type pipeline is characterized in that the anchoring driving unit comprises an anchoring lead screw pair (209), an anchoring motor (207), an anchoring gear reduction set (208) and an anchoring guide post (210) which are arranged in the anchoring shell (201), wherein the anchoring motor (207) drives the anchoring lead screw pair (209) to rotate through the anchoring gear reduction set (208), and the anchoring bearing piece (206) is driven to reciprocate along the axial direction through the anchoring lead screw pair (209) through the guiding of the anchoring guide post (210).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920292275.5U CN209819028U (en) | 2019-03-07 | 2019-03-07 | Intelligent plugging robot in brake type pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920292275.5U CN209819028U (en) | 2019-03-07 | 2019-03-07 | Intelligent plugging robot in brake type pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209819028U true CN209819028U (en) | 2019-12-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920292275.5U Expired - Fee Related CN209819028U (en) | 2019-03-07 | 2019-03-07 | Intelligent plugging robot in brake type pipeline |
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| Country | Link |
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| CN (1) | CN209819028U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737264A (en) * | 2019-03-07 | 2019-05-10 | 北华大学 | Robot is intelligently blocked in brake type pipeline |
-
2019
- 2019-03-07 CN CN201920292275.5U patent/CN209819028U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109737264A (en) * | 2019-03-07 | 2019-05-10 | 北华大学 | Robot is intelligently blocked in brake type pipeline |
| CN109737264B (en) * | 2019-03-07 | 2023-08-18 | 北华大学 | Brake type intelligent plugging robot in pipeline |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191220 Termination date: 20210307 |
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| CF01 | Termination of patent right due to non-payment of annual fee |