CN211821304U - Reducing walking type natural gas pipeline detection robot - Google Patents
Reducing walking type natural gas pipeline detection robot Download PDFInfo
- Publication number
- CN211821304U CN211821304U CN202020253450.2U CN202020253450U CN211821304U CN 211821304 U CN211821304 U CN 211821304U CN 202020253450 U CN202020253450 U CN 202020253450U CN 211821304 U CN211821304 U CN 211821304U
- Authority
- CN
- China
- Prior art keywords
- digital camera
- camera mounting
- mounting plate
- ratchet wheel
- inner ratchet
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a reducing walking natural gas line inspection robot, including reducing mechanism, running gear, detection device and pneumatic cylinder. Pneumatic cylinder both ends are provided with reducing mechanism, the bottom of both ends reducing mechanism is connected with running gear, reducing mechanism one side of robot rear end is connected with detection device the utility model discloses in, through the pneumatic cylinder stopper, hydraulic cylinder body, the hydraulic cylinder that first hydraulic pressure pipe and second hydraulic pressure pipe are constituteed realizes hydraulic drive, the use of motor has been avoided, it is safer in the pipeline, detection device is an airtight structure, it is safer to make its during operation, through the major axis, the synchronization disc, the slider, the auxiliary rod, the crank, a spring, first spring push rod, second spring push rod, and the reducing mechanism who constitutes with the wheel base, moreover, the steam generator is simple in structure, certain reducing ability has, make the robot have better obstacle crossing ability through the spring leaf on the wheel base.
Description
Technical Field
The utility model belongs to the technical field of pipeline inspection robot and specifically relates to a reducing walking natural gas line inspection robot is related to.
Background
The pipeline detection robot is an intelligent electromechanical device integrating a driving technology, a sensor technology, a control technology and a signal processing technology. The detection of mainly used oil gas pipeline can prevent that oil gas pipeline from taking place to leak, improves the life of pipeline, has ensured a ray of staff's life safety, has also improved detection efficiency. Because the oil and gas pipeline transportation distance is longer, the space size inside the pipeline is limited, along with factors such as unstable pressure inside the flowing of oil gas, the pipeline detection robot is required to have the performances of explosion prevention, rapid obstacle crossing and the like, higher requirements are provided for the driving characteristics such as the adaptability of the environment of the pipeline robot, the stability of the pipeline robot, the supply in the aspect of energy sources and the like, and the characteristics are also hot spots of the related research of the current pipeline detection robot.
Most pipeline inspection robot driving methods are motor drive at present, and pipeline inspection robot's driving motor is mostly direct inside exposing oil gas pipeline, does not increase the blast proof measure, and the explosion is very easily induced in the testing process of pipeline, has certain potential safety hazard. Meanwhile, the pipeline diameter of the long-distance natural gas pipeline is changed greatly, the number of elbows is large, the obstacle crossing of the common wheel type pipeline robot is difficult, and the robot is easy to block and cannot pass through.
SUMMERY OF THE UTILITY MODEL
The utility model aims at disclosing a reducing walking natural gas line inspection robot to solve the problem that proposes in the above-mentioned background.
In order to achieve the above object, the utility model provides a following technical scheme:
a reducing walking type natural gas pipeline detection robot comprises a reducing mechanism, a walking mechanism, a hydraulic cylinder and a detection device, wherein the reducing mechanisms are arranged at two ends of the hydraulic cylinder, the bottom ends of the reducing mechanisms at the two ends are connected with the walking mechanism, and the reducing mechanism at the rear end of the robot is connected with the detection device;
the diameter-changing mechanism comprises a first spring push rod, a second spring push rod, a long shaft, a synchronous disc, a sliding block, an auxiliary rod, a crank, a spring and a wheel base; a first digital camera mounting plate of the detection device is connected with a long shaft penetrating through a synchronous disc, a sliding block, a second supporting plate and a third supporting plate, one side of the sliding block is connected with the synchronous disc, the synchronous disc is connected with the first supporting plate through a first spring push rod, the rear end of the first spring push rod is connected with a hydraulic cylinder plug, the hydraulic cylinder plug penetrates through the sliding block and the synchronous disc, the rear end of a hydraulic cylinder body is connected with the second supporting plate, the second supporting plate is connected with a first digital camera mounting plate of the detection device through a second spring push rod penetrating through the third supporting plate, a spring is sleeved outside the second spring push rod and the first spring push rod between the second supporting plate and the third supporting plate, the first supporting plate and the second supporting plate are connected with a wheel base through a crank, and one side of the third supporting plate and the synchronous disc are connected with;
the detection device comprises a first digital camera mounting plate, a second digital camera mounting plate, a first digital camera mounting base plate, a second digital camera mounting base plate, a first digital camera, a second digital camera, a copper stud, a cylinder, a printed circuit board, a magnetic flux leakage detection probe, a hydraulic pipe through hole, a cable and a standby battery; the first digital camera mounting plate and the second digital camera mounting plate are provided with hydraulic pipe through holes, the first digital camera mounting plate and the second digital camera mounting plate are connected through a cylinder, the cylinder is provided with a magnetic leakage detection probe, a first digital camera connected with the first digital camera mounting plate is arranged between the first digital camera mounting plate and the first digital camera mounting plate, the first digital camera mounting plate is connected with the first digital camera mounting plate through a copper stud, a second digital camera connected with the second digital camera mounting plate is arranged between the second digital camera mounting plate and the second digital camera mounting plate, the second digital camera mounting plate is connected with the second digital camera mounting plate through a copper stud, a standby battery is connected with a printed circuit board, and the printed circuit board is connected with the first digital camera mounting plate, the cable penetrates through the second digital camera mounting plate to be connected with the printed circuit board, and the magnetic flux leakage detection probe is connected with the printed circuit board through a line;
the hydraulic cylinder comprises a hydraulic cylinder plug, a hydraulic cylinder body, a first hydraulic pipe and a second hydraulic pipe; the rear ends of the first hydraulic pipe and the second hydraulic pipe are connected with the hydraulic pipe in the detection part through holes;
the travelling mechanism comprises an inner ratchet wheel frame, an inner ratchet wheel kit, an inner ratchet wheel lock and an inner ratchet wheel key; the middle part of the wheel base is connected with an inner ratchet wheel key through an inner ratchet wheel key, the inner ratchet wheel key penetrates through an inner ratchet wheel external member, an inner ratchet wheel frame is arranged outside the inner ratchet wheel external member, and an inner ratchet wheel lock is arranged between the inner ratchet wheel frame and the inner ratchet wheel external member to be connected.
As a further technical scheme of the utility model, the quantity of auxiliary rod, crank, wheel base in the both ends reducing mechanism is three around the robot, and three wheel base is 120 and distributes in radial circumference within range.
As a further technical scheme of the utility model, the front end of major axis is filled with the rubber packing ring, prevents to take place rigidity collision between major axis and the synchronization disk and damages the part.
As a further technical proposal of the utility model, the spring is a high elastic coefficient spring.
As a further technical scheme of the utility model, the wheel base is provided with the spout, is provided with the spring leaf on the wheel base.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the utility model discloses the drive mode of the pipeline inspection robot who chooses for use is hydraulic drive, hydraulic drive's power mainly is provided through the hydraulic oil that the hydraulic pressure pipe carried to the pneumatic cylinder by the hydraulic pump outside natural gas line, only need use power drive at the pneumatic cylinder outside natural gas line, what the pneumatic cylinder during operation in the pipeline relied on is hydraulic oil, can not produce the electric spark, the possibility that pipeline inspection robot produced the electric spark and then leaded to the explosion because of drive part when marcing in natural gas line has been reduced through this mode.
2. The detection device is a sealing device, the detection device is detachably connected with the pipeline detection robot, the connection mode is simple threaded connection, the carrying and the field assembly are convenient, and the sealing device reduces the possibility of explosion caused by electric spark of a circuit element.
3. The reducing mechanism composed of the first spring push rod, the second spring push rod, the long shaft, the synchronous disc, the sliding block, the auxiliary rod, the crank, the spring and the wheel base is simple in structure and has certain reducing capacity.
4. The inner ratchet wheel can ensure that the pipeline detection robot cannot slip when moving in the natural gas pipeline, so that the pipeline detection robot can stably move and stably stop in the pipeline; the spring leaf and the spout of interior ratchet base make pipeline inspection robot can cross obstacles such as pipeline welding seam, and the spring leaf also plays the phenomenon that prevents pipeline inspection robot and march in-process and skid simultaneously.
Drawings
Fig. 1 is a schematic view of the three-dimensional structure of the present invention.
Fig. 2 is the structure schematic diagram of the reducing mechanism and the hydraulic cylinder of the present invention.
Fig. 3 is a schematic structural diagram of the detection device of the present invention.
Fig. 4 is a schematic structural diagram of the hydraulic cylinder of the present invention.
Fig. 5 is a schematic structural diagram of the traveling mechanism of the present invention.
In the figure: 1-a first support plate, 2-a second support plate, 3-a third support plate, 4-a first spring push rod, 5-a second spring push rod, 6-a long shaft, 7-a synchronous disc, 8-a slide block, 9-an auxiliary rod, 10-a crank, 11-a spring, 12-a wheel base, 13-a hydraulic cylinder plug, 14-a hydraulic cylinder body, 15-a first hydraulic pipe, 16-a second hydraulic pipe, 17-an inner ratchet wheel frame, 18-an inner ratchet wheel assembly, 19-an inner ratchet wheel lock, 20-an inner ratchet wheel key, 21-a chute, 22-a spring piece, 23-a rubber gasket, 24-a first digital camera mounting plate, 25-a second digital camera mounting plate, 26-a first digital camera mounting plate, 27-a second digital camera mounting plate, 28-a first digital camera, 29-a second digital camera, 30-a copper stud, 31-a cylinder, 32-a printed circuit board, 33-a magnetic flux leakage detection probe, 34-a hydraulic tube passing through a hole and 35-a cable.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the first embodiment, the utility model comprises a reducing mechanism, a traveling mechanism, a hydraulic cylinder and a detection device, wherein the reducing mechanisms are arranged at two ends of the hydraulic cylinder, the bottom ends of the reducing mechanisms at two ends are connected with the traveling mechanism, and the reducing mechanism at the rear end of the robot is connected with the detection device;
the diameter-changing mechanism comprises a first spring push rod 4, a second spring push rod 5, a long shaft 6, a synchronous disc 7, a sliding block 8, an auxiliary rod 9, a crank 10, a spring 11 and a wheel base 12; the first digital camera mounting plate 24 of the detection device is connected with the through synchronous disc 7 and the slide block 8, a long shaft 6 of a second support plate 2 and a third support plate 3, a synchronous disc 7 is connected to one side of a sliding block 8, the synchronous disc 7 is connected with a first support plate 1 through a first spring push rod 4, a hydraulic cylinder plug 13 is connected to the rear end of the first spring push rod 4, the hydraulic cylinder plug 13 penetrates through the sliding block 8 and the synchronous disc 7, a second support plate 2 is connected to the rear end of a hydraulic cylinder body 14, the second support plate 2 is connected with a first digital camera mounting plate 24 of the detection device through a second spring push rod 5, a spring 11 is sleeved outside the second spring push rod 5 and the first spring push rod 4, the first support plate 1 and the second support plate 2 are connected with a wheel base 12 through a crank 10, and one side of the third support plate 3 and the synchronous disc 7 is connected with the middle part of the crank 10 through an auxiliary;
the detection device comprises a first digital camera mounting plate 24, a second digital camera mounting plate 25, a first digital camera mounting base plate 26, a second digital camera mounting base plate 27, a first digital camera 28, a second digital camera 29, a copper stud 30, a cylinder 31, a printed circuit board 32, a magnetic flux leakage detection probe 33, a hydraulic pipe through hole 34, a cable 35 and a standby battery; the first digital camera mounting plate 24 and the second digital camera mounting plate 25 are provided with hydraulic pipe through holes 34, the first digital camera mounting plate 24 and the second digital camera mounting plate 25 are connected through a cylinder 31, the cylinder 31 is provided with a magnetic flux leakage detection probe 33, a first digital camera 28 connected with the first digital camera mounting plate 24 is arranged between the first digital camera mounting plate 24 and the first digital camera mounting plate 26, the first digital camera mounting plate 24 and the first digital camera mounting plate 26 are connected through a copper stud 30, a second digital camera 29 connected with the second digital camera mounting plate 25 is arranged between the second digital camera mounting plate 25 and the second digital camera mounting plate 27, the second digital camera mounting plate 25 and the second digital camera mounting plate 27 are connected through the copper stud 30, and a standby battery is connected with a printed circuit board 32, the printed circuit board 32 is connected to the first digital camera mounting plate 24, the cable 35 penetrates the second digital camera mounting plate 25 to be connected to the printed circuit board 32, and the magnetic flux leakage detection probe 33 is connected to the printed circuit board 32 through a line.
The hydraulic cylinder comprises a hydraulic cylinder plug 13, a hydraulic cylinder body 14, a first hydraulic pipe 15 and a second hydraulic pipe 16; the first hydraulic pipe 15 and the second hydraulic pipe 16 are connected to the hydraulic cylinder block 14, and the rear ends of the first hydraulic pipe 15 and the second hydraulic pipe 16 are connected to the hydraulic pipe passage hole 34 in the detection portion.
The travelling mechanism comprises an inner ratchet wheel frame 17, an inner ratchet wheel kit 18, an inner ratchet wheel lock 19 and an inner ratchet wheel key 20; the middle part of the wheel base 12 is connected through an inner ratchet wheel key 20, the inner ratchet wheel key 20 penetrates through an inner ratchet sleeve 18, an inner ratchet wheel frame 17 is arranged outside the inner ratchet sleeve 18, and an inner ratchet wheel lock 19 is arranged between the inner ratchet wheel frame 17 and the inner ratchet sleeve 18 for connection.
In the second embodiment, on the basis of the first embodiment, the number of the auxiliary rods 9, the crank 10 and the wheel bases 12 in the diameter-changing mechanisms at the front end and the rear end of the robot is three, and the three wheel bases 12 are distributed in a radial circumferential range at an angle of 120 degrees, so that the robot can move in a pipeline conveniently.
In the third embodiment, on the basis of the first embodiment, the front end of the long shaft 6 is filled with a rubber gasket 25, so that the parts are prevented from being damaged due to rigid collision between the long shaft 6 and the synchronous disc 7.
In a fourth embodiment, on the basis of the first embodiment, the spring 11 is a high-elastic-coefficient spring, and functions as: when the hydraulic cylinder works to push out the hydraulic cylinder plug 13, the second spring push rod 4 pushes the first supporting plate 1 to move forwards, the high-elasticity-coefficient spring enables the extension amount of the spring 11 to be reduced, certain pressure of the travelling mechanism on the pipe wall is guaranteed, and the travelling mechanism is guaranteed to be tightly attached to the inner wall of the pipeline.
Fifth embodiment, on the basis of the first embodiment, the wheel base 12 is provided with a sliding groove 21, and the wheel base is provided with a spring plate 22, so that the traveling mechanism can slide in the vertical direction, and the first embodiment is used for: the pipeline detection robot has certain obstacle crossing capability, when an obstacle is met, the walking mechanism can extrude the spring piece 22 to move downwards along the sliding groove 21, and after the obstacle is crossed, the spring piece 22 returns to the initial state to finish obstacle crossing of the inner wall of the pipeline.
In this embodiment, the running gear is a unidirectional rotation driven wheel, when the counter-rotation direction rotates, the running gear can realize mechanical self-locking because of the inner ratchet wheel lock 19, cause the running gear to be unable to carry out the counter-rotation, make the friction between running gear and the natural gas pipeline inner wall change into sliding friction from rolling friction, because of the rolling friction's of running gear and natural gas pipeline inner wall coefficient of friction is less than the sliding friction coefficient, so the frictional force between running gear and the natural gas pipeline inner wall increases, can prevent the phenomenon that the wheel skidded at the pipeline inner wall, the spring leaf 22 on the wheel base 12 also plays the effect of preventing skidding to the running gear, make the pipeline inspection robot advance more stably in the pipeline, improve the efficiency of marcing.
In this embodiment, the reducing mechanism composed of the first spring push rod 4, the second spring push rod 5, the long shaft 6, the synchronous disk 7, the slider 8, the auxiliary rod 9, the crank 10, the spring 11 and the wheel base 12 has a certain reducing capacity, when the robot travels in pipelines with different pipe diameters, the front end of the robot changes the angle of the crank 9 and the auxiliary rod 10 in the horizontal direction through the first spring push rod 4, the spring 11, the first support plate 1 and the synchronous disk 7, and the rear end of the robot changes the angle of the crank 9 and the auxiliary rod 10 in the horizontal direction through the second spring push rod 5, the spring 11, the second support plate 2 and the third support plate 3, so that a certain reducing function is realized.
In the embodiment, the detection of the inner wall of the pipeline is mainly performed by the magnetic flux leakage detection probe 33, and the first digital camera 28, the second digital camera 29 and other sensors installed in an expanded way assist in the detection of the inner wall of the pipeline. Video data collected by a first digital camera 28 and a second digital camera 29 in the pipeline detection robot and pipeline inner wall data collected by a magnetic flux leakage detection probe 33 are converged into digital signals through a conversion module and transmitted to a cable coil through a communication cable; the cable disc transmits the digital signals to an analysis module of the information acquisition control terminal, and the analysis module transmits the data of the inner wall of the pipeline acquired by the magnetic flux leakage detection probe 33 and the video data acquired by the first digital camera 28 and the second digital camera 29 to the mobile terminal for display.
The utility model discloses the motion principle does: when the second hydraulic pipe 16 is filled with oil and the first hydraulic pipe 15 is filled with oil, the hydraulic pressure acting on the hydraulic cylinder body 14 can provide an axial backward force and a radial supporting force for the inner wall of the pipeline converted by the crank 9 and the auxiliary rod 10, the walking mechanism at the rear end of the robot realizes mechanical self-locking due to the self structure, at the moment, the friction between the walking mechanism at the rear end of the robot and the inner wall of the natural gas pipeline is converted from rolling friction to sliding friction, the friction factor is increased, the provided friction force is greater than the axial backward force, the slipping and backward situation is avoided, the position of the walking mechanism at the rear end is kept unchanged, the hydraulic pressure acting on the hydraulic cylinder plug 13 provides an axial forward force, the first spring push rod 4 is pushed, the first support plate 1 is pushed by the first spring push rod 4 to move forwards, the synchronous disc 7 and the sliding block 8 are pulled by the spring 11, the front end walking mechanism is enabled to advance, when oil enters the first hydraulic pipe 15 and oil exits the second hydraulic pipe 16, the liquid pressure acting on the hydraulic cylinder plug 13 can provide an axial backward force and a radial supporting force for the inner wall of the pipeline through the crank 9 and the auxiliary rod 10, the walking mechanism at the front end of the robot realizes mechanical self-locking due to the self structure, at the moment, the friction between the walking mechanism at the front end of the robot and the inner wall of the natural gas pipeline is changed from rolling friction to sliding friction, the friction factor is increased, the provided friction force is larger than the axial forward force, the situations of slipping and backward movement are avoided, the position of the front end walking mechanism is kept unchanged, the liquid pressure acting on the hydraulic cylinder body 14 provides an axial forward force to push the second spring push rod 5, the second spring push rod 5 pushes the second support plate 2 to move forwards, the third support plate 3 is pulled through the spring 11, the rear end traveling mechanism is advanced.
The above description is only for the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are all covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. The utility model provides a reducing walking natural gas line inspection robot which characterized in that: the device comprises a diameter changing mechanism, a traveling mechanism, a hydraulic cylinder and a detection device; the two ends of the hydraulic cylinder are provided with reducing mechanisms, the bottom ends of the reducing mechanisms at the two ends are connected with a traveling mechanism, and the reducing mechanism at the rear end of the robot is connected with a detection device;
the diameter-changing mechanism comprises a first spring push rod (4), a second spring push rod (5), a long shaft (6), a synchronous disc (7), a sliding block (8), an auxiliary rod (9), a crank (10), a spring (11) and a wheel base (12); one side of a first digital camera mounting plate (24) of the detection device is connected with a long shaft (6) penetrating through a synchronous disc (7), a sliding block (8), a second supporting plate (2) and a third supporting plate (3), one side of the sliding block (8) is connected with the synchronous disc (7), the synchronous disc (7) is connected with the first supporting plate (1) through a first spring push rod (4), the rear end of the first spring push rod (4) is connected with a hydraulic cylinder plug (13), the hydraulic cylinder plug (13) penetrates through the sliding block (8) and the synchronous disc (7), the rear end of a hydraulic cylinder body (14) is connected with the second supporting plate (2), the second supporting plate (2) is connected with the first digital camera mounting plate (24) of the detection device through a second spring push rod (5) penetrating through the third supporting plate (3), the second spring push rod (5) and the first spring push rod (4) between the second supporting plate (2) and the third supporting plate (3) are sleeved with springs (11), the first supporting plate (1), the second supporting plate (2) and the wheel base (12) are connected through a crank (10), and the third supporting plate (3) and one side of the synchronous disc (7) are connected with the middle part of the crank (10) through an auxiliary rod (9);
the detection device comprises a first digital camera mounting plate (24), a second digital camera mounting plate (25), a first digital camera mounting base plate (26), a second digital camera mounting base plate (27), a first digital camera (28), a second digital camera (29), a copper stud (30), a cylinder (31), a printed circuit board (32), a magnetic flux leakage detection probe (33), a hydraulic pipe passing hole (34), a cable (35) and a standby battery; hydraulic pipe through holes (34) are formed in the first digital camera mounting plate (24) and the second digital camera mounting plate (25), the first digital camera mounting plate (24) and the second digital camera mounting plate (25) are connected through a cylinder (31), a magnetic flux leakage detection probe (33) is arranged on the cylinder (31), a first digital camera (28) connected to the first digital camera mounting plate (24) is arranged between the first digital camera mounting plate (24) and the first digital camera mounting plate (26), the first digital camera mounting plate (24) and the first digital camera mounting plate (26) are connected through a copper stud (30), a second digital camera (29) connected to the second digital camera mounting plate (25) is arranged between the second digital camera mounting plate (25) and the second digital camera mounting plate (27), and the second digital camera mounting plate (25) and the second digital camera mounting plate (27) are connected through a copper stud (30) ) The standby battery is connected with the printed circuit board (32), the printed circuit board (32) is connected with the first digital camera mounting plate (24), the cable (35) penetrates through the second digital camera mounting plate (25) to be connected with the printed circuit board (32), and the magnetic flux leakage detection probe (33) is connected with the printed circuit board (32) through a line;
the hydraulic cylinder comprises a hydraulic cylinder plug (13), a hydraulic cylinder body (14), a first hydraulic pipe (15) and a second hydraulic pipe (16); a first hydraulic pipe (15) and a second hydraulic pipe (16) are connected with the hydraulic cylinder body (14), and the rear ends of the first hydraulic pipe (15) and the second hydraulic pipe (16) are connected with a hydraulic pipe in the detection part through a hole (34);
the travelling mechanism comprises an inner ratchet wheel frame (17), an inner ratchet wheel set (18), an inner ratchet wheel lock (19) and an inner ratchet wheel key (20); the middle of the wheel base (12) is connected through an inner ratchet wheel key (20), the inner ratchet wheel key (20) penetrates through an inner ratchet wheel external member (18), an inner ratchet wheel frame (17) is arranged outside the inner ratchet wheel external member (18), and an inner ratchet wheel lock (19) is arranged between the inner ratchet wheel frame (17) and the inner ratchet wheel external member (18) for connection.
2. The diameter-variable walking type natural gas pipeline detection robot according to claim 1, wherein the number of the auxiliary rods (9), the cranks (10) and the wheel bases (12) in the diameter-variable mechanisms at the front end and the rear end of the robot is three, and the three wheel bases (12) are distributed in a radial circumferential range in an angle of 120 degrees.
3. The variable diameter walking type natural gas pipeline detection robot as claimed in claim 1, wherein a rubber gasket (23) is filled at the front end of the long shaft (6) to prevent parts from being damaged due to rigid collision between the long shaft (6) and the synchronous disc (7).
4. The variable diameter walking type natural gas pipeline detection robot as claimed in claim 1, wherein the spring (11) is a high elastic coefficient spring.
5. The variable diameter walking type natural gas pipeline detection robot as claimed in claim 1, wherein the wheel base (12) is provided with a sliding groove (21), and a spring piece (22) is arranged on the wheel base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020253450.2U CN211821304U (en) | 2020-03-04 | 2020-03-04 | Reducing walking type natural gas pipeline detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020253450.2U CN211821304U (en) | 2020-03-04 | 2020-03-04 | Reducing walking type natural gas pipeline detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211821304U true CN211821304U (en) | 2020-10-30 |
Family
ID=72996471
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020253450.2U Expired - Fee Related CN211821304U (en) | 2020-03-04 | 2020-03-04 | Reducing walking type natural gas pipeline detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211821304U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111140723A (en) * | 2020-03-04 | 2020-05-12 | 西南石油大学 | Reducing walking type natural gas pipeline detection robot |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
-
2020
- 2020-03-04 CN CN202020253450.2U patent/CN211821304U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111140723A (en) * | 2020-03-04 | 2020-05-12 | 西南石油大学 | Reducing walking type natural gas pipeline detection robot |
| CN111140723B (en) * | 2020-03-04 | 2024-04-12 | 西南石油大学 | Reducing walking type natural gas pipeline detection robot |
| CN112630229A (en) * | 2021-03-09 | 2021-04-09 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
| CN112630229B (en) * | 2021-03-09 | 2021-06-18 | 西南石油大学 | Pipeline robot for oil and gas pipeline and pipeline defect detection and repair method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111140723A (en) | Reducing walking type natural gas pipeline detection robot | |
| CN211821304U (en) | Reducing walking type natural gas pipeline detection robot | |
| CN108263193A (en) | Hybrid power system | |
| CN104976485B (en) | A kind of pipe moving mechanism with adaptation function | |
| CN106740230A (en) | One kind is used for electric automobile charging pile device | |
| CN108019586B (en) | Stable pipeline robot running gear | |
| CN109352624B (en) | Spiral advancing type variable-diameter pipe outer robot | |
| CN105465365B (en) | Adjustable tail shaft sealing device for ship | |
| CN210685961U (en) | Underground power supply device for underground charging method | |
| CN102678786A (en) | Rotary braking device | |
| CN205479974U (en) | Self -adaptation movable detection device in pipeline | |
| CN114701306A (en) | Amphibious spherical investigation robot with variable foot wheels | |
| CN103643704A (en) | Detector for detecting compactness of sand base of immersed tube tunnel | |
| CN103481736A (en) | Novel amphibious travelling mechanism | |
| CN107191738A (en) | Video detecting device in a kind of pipeline | |
| CN203996714U (en) | A kind of double-axle rotator device for mechanical disc brake | |
| CN101749433A (en) | Biaxial magnetic liquid sealing structure | |
| CN203511204U (en) | Novel amphibious walking mechanism | |
| CN203869968U (en) | Blast driver for large blast wave simulator | |
| CN107940167A (en) | Stepping type pipeline inner wall defect image acquisition robot | |
| CN205655034U (en) | Video detection device in pipeline | |
| CN203580517U (en) | Wheel and vehicle provided with same | |
| CN103496298B (en) | A kind of wheel and there is the vehicle of this wheel | |
| CN208760425U (en) | Spur type tire energy recovery assemblies | |
| CN210739723U (en) | Crawler-type oil gas pipeline robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201030 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |