CN212056338U

CN212056338U - Crawling type pipeline robot walking mechanism

Info

Publication number: CN212056338U
Application number: CN202020054640.1U
Authority: CN
Inventors: 王富
Original assignee: Sichuan Paipu Bearing And Dynamic Load Equipment Detection Co ltd
Current assignee: Sichuan Paipu Bearing And Dynamic Load Equipment Detection Co ltd
Priority date: 2020-01-12
Filing date: 2020-01-12
Publication date: 2020-12-01
Anticipated expiration: 2030-01-12

Abstract

The utility model discloses a crawl formula pipeline robot running gear, the pipeline comprises a pipeline, the removal component is installed to the inner wall of pipeline, the internally mounted of removal component has organism, right side the camera is installed on the right side of organism, install between the organism and turn to the component. This formula pipeline robot running gear climbs, through the crown plate, the sleeve pipe, first spring, the cooperation of branch and gyro wheel is used, the work that can support the removal to the organism has been reached, through the fagging, the briquetting, the second spring, the cooperation of semicircle ball and ball is used, the pipeline that can make the organism pass through different curvatures has been reached, can carry out every phenomenon rotation work simultaneously, through the picture peg, the vaulting pole, the slide bar, the cooperation of roof and hydraulic stem is used, the unable work of stopping when the organism detects perpendicular pipeline has been reached, lead to appearing gliding phenomenon easily and appear, lead to detecting inaccurately, lead to the organism to damage simultaneously easily.

Description

Crawling type pipeline robot walking mechanism

Technical Field

The utility model relates to a pipeline robot technical field specifically is a crawl formula pipeline robot running gear.

Background

The research of the in-pipe robot technology in China has a history of more than 20 years, and units such as Harbin Industrial university, Shenyang automated research institute of Chinese academy of sciences, Shanghai transportation university, Qinghua university, Zhejiang university, Beijing petrochemical industry institute, Tianjin university, Taiyuan university, Daqing Petroleum administration, Shengli oil field, and Central China oil field perform research work in the aspect. To pipeline robot's research, it is more to the research of many rounds of bearing structure in the past, just research the direct detection and the maintenance that are used in circular pipeline of traditional wheeled mobile robot, current crawl formula pipeline robot running gear, it is less to turn to the angle when using, can't pass through the great pipeline of camber, examine time measuring to perpendicular pipeline simultaneously, can't accomplish parking work, lead to the organism to realize gliding down, perhaps drop, can appear detecting inaccurately, perhaps lead to the organism because drop and damage.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a crawl formula pipeline robot running gear to solve the current crawl formula pipeline robot running gear who proposes in the above-mentioned background art, steering angle is less when using, can't pass through the great pipeline of camber, is examining time measuring to perpendicular pipeline simultaneously, can't accomplish the parking work, leads to the organism to realize gliding down, perhaps drops, can appear detecting inaccurately, perhaps leads to the organism because the damage problem that drops.

In order to achieve the above object, the utility model provides a following technical scheme: a crawling type pipeline robot walking mechanism comprises a pipeline, wherein a moving component is installed on the inner wall of the pipeline, a machine body is installed inside the moving component, a camera is installed on the right side of the machine body on the right side, a steering component is installed between the machine bodies, connecting wires are fixedly connected to the upper end and the lower end of the inner side of the steering component and are connected with electrodes of the machine body, and a parking device is installed on the left side of the machine body on the left side;

preferably, parking equipment includes picture peg, vaulting pole, slider, roof and hydraulic stem, both ends all rotate about the outer wall right side of picture peg and are connected with the vaulting pole, the outside of vaulting pole is rotated and is connected with the slider, the outside sliding connection of slider has the roof, the rigid coupling has the hydraulic stem between roof and the picture peg.

Preferably, the outer wall of the top plate is processed with grinding grains.

Preferably, the movable component comprises a ring plate, a sleeve, a first spring, a support rod and a roller, the sleeve is fixedly connected to the upper end and the lower end of the outer wall of the ring plate, the first spring is fixedly connected to the inner wall of the sleeve, the support rod is fixedly connected to the outer side of the first spring, and the roller is rotatably connected to the outer side of the support rod.

Preferably, the roller is made of rubber wheels.

Preferably, the steering component comprises supporting plates, pressing blocks, second springs, semi-spheres and spheres, the pressing blocks are inserted into the upper and lower sides of the supporting plates, the second springs are fixedly connected between the pressing blocks, the spheres and the semi-spheres are fixedly connected to the centers of the inner walls of the supporting plates respectively, and the spheres are connected with the semi-spheres in a rotating mode.

Preferably, the pressing block and the second spring are symmetrically arranged.

Compared with the prior art, the beneficial effects of the utility model are that: this formula pipeline robot running gear climbs, through the crown plate, the sleeve pipe, first spring, the cooperation of branch and gyro wheel is used, the work that can support the removal to the organism has been reached, through the fagging, the briquetting, the second spring, the cooperation of semicircle ball and ball is used, the pipeline that can make the organism pass through different curvatures has been reached, can carry out every phenomenon rotation work simultaneously, through the picture peg, the vaulting pole, the slide bar, the cooperation of roof and hydraulic stem is used, the unable work of stopping when the organism detects perpendicular pipeline has been reached, lead to appearing gliding phenomenon easily and appear, lead to detecting inaccurately, lead to the organism to damage simultaneously easily.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of an enlarged connection structure of the steering member of FIG. 1;

FIG. 3 is a schematic view of a connection structure of the first spring, the supporting rod and the roller in FIG. 1;

fig. 4 is a schematic view of a connection structure of the stay bar, the slider and the top plate in fig. 1.

In the figure: 1. the device comprises a pipeline, 2, a moving component, 201, a ring plate, 202, a sleeve, 203, a first spring, 204, a support rod, 205, a roller, 3, a machine body, 4, a camera, 5, a steering component, 501, a support plate, 502, a press block, 503, a second spring, 504, a semi-sphere, 505, a sphere, 6, a connecting wire, 7, a parking device, 701, an inserting plate, 702, a support rod, 703, a sliding block, 704, a top plate, 705 and a hydraulic rod.

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.

Referring to fig. 1-4, the present invention provides a technical solution: a walking mechanism of crawling pipeline robot comprises a pipeline 1, a moving member 2 is installed on the inner wall of the pipeline 1, a machine body 3 can move inside the pipeline 1 through the moving member 2, a machine body 3 is installed inside the moving member 2, a driving wheel is installed on the back of the machine body 3 to drive the machine body, a camera 4 is installed on the right side of the right machine body 3, and the camera 4 can detect the machine body, and it is worth explaining that the camera 4 related in the embodiment, a power supply and a control switch thereof can be provided by a manufacturer, besides, the utility model relates to circuits, electronic components and modules which are all the prior art, the technical personnel in the field can completely realize the walking mechanism without prohibiting the need of prohibitions, the protection content of the utility model does not relate to the improvement of the internal structure and method, and a steering member 5 is installed between the machine bodies 3, the machine body 3 can be turned to work all over the world through the steering component 5, the upper end and the lower end of the inner side of the steering component 5 are fixedly connected with the connecting wires 6, the connecting wires 6 can be used for connecting electrodes of the machine bodies 3 on two sides, the connecting wires 6 are connected with the electrodes of the machine bodies 3, the parking device 7 is installed on the left side of the machine body 3 on the left side, the parking device 7 can prevent the machine bodies 3 from being damaged due to falling when the machine bodies 3 move through a vertical pipeline, and the machine bodies 3 can be prevented from;

parking equipment 7 includes picture peg 701, vaulting pole 702, slider 703, roof 704 and hydraulic stem 705, both ends all rotate to be connected with vaulting pole 702 about the outer wall right side of picture peg 701, vaulting pole 702 can rotate on picture peg 701 through the round pin axle, the outside of vaulting pole 702 rotates and is connected with slider 703, slider 703 rotates through the round pin axle and is connected with slider 703, the outside sliding connection of slider 703 has roof 704, slider 703 can be drawn in the inside of roof 704, the rigid coupling has hydraulic stem 705 between roof 704 and the picture peg 701, hydraulic stem 705 in this embodiment is prior art, hydraulic stem 705 is small-size hydraulic stem, can choose for use according to the hydraulic stem on the market, the outer wall processing of roof 704 has the wear line, the work that the friction can be increased to the wear line.

The moving member 2 comprises a ring plate 201, a sleeve 202, a first spring 203, a support rod 204 and a roller 205, the sleeve 202 is fixedly connected to the upper end and the lower end of the outer wall of the ring plate 201, the first spring 203 is fixedly connected to the inner wall of the sleeve 202, and the elastic coefficient of the first spring 203 is as follows: 50N/CM-200N/CM, the outside rigid coupling of first spring 203 has branch 204, and branch 204 can carry out extrusion work to first spring 203, and the outside of branch 204 rotates and is connected with gyro wheel 205, and gyro wheel 205 rotates with branch 204 through the round pin axle and links to each other, and the outer wall of gyro wheel 205 closely laminates with the pipeline inner wall, and the material of gyro wheel 205 is the rubber wheel, and the rubber wheel can increase the work of frictional force.

Steering member 5 includes fagging 501, briquetting 502, second spring 503, semicircle ball 504 and ball 505, and the upper and lower both sides of fagging 501 are all pegged graft and are had briquetting 502, and the rigid coupling has second spring 503 between briquetting 502, and briquetting 502 can carry out extrusion work to second spring 503, and second spring 503's elastic coefficient is: 70N/CM-220N/CM, the centre of the inner wall of the supporting plate 501 is respectively fixedly connected with a round ball 505 and a semi-round ball 504, the round ball 505 can rotate in the semi-round ball 504, the round ball 505 is rotatably connected with the semi-round ball 504, and the pressing block 502 and the second spring 503 are symmetrically arranged.

When the crawling type pipeline robot walking mechanism starts to work, the external control unit controls the machine body 3 to move in the pipeline 1, when the crawling type pipeline robot walking mechanism moves to the bent pipe of the pipeline 1 or is vertical to the pipeline 1, the roller 205 on one side of the bending center extrudes the first spring 203 through the support rod 204, the reaction force of the first spring 203 on the other side can push the support rod 204 outwards, the roller 205 on the outer side can be attached to the inner wall of the pipeline 1, the pressing block 502 on one side can simultaneously extrude the second spring 503 when the pipe passes through the bent pipe, the pressing block 502 on the other side can stretch the second spring 503, the ball 505 rotates in the semi-ball 504 while the pressing block 502 extrudes and stretches the second spring 503, thereby the steering work is finished, when the machine body 3 and the moving member 2 move to the vertical pipeline, in order to prevent the machine body 3 and the moving member 2 from sliding off, when the camera 4 detects a vertical pipeline, a user controls the hydraulic rod 705 to extend outwards through the external control unit, the hydraulic rod 705 pushes the top plate 704 outwards, the top plate 704 is attached to the inner wall of the pipeline 1, the parking operation can be performed by supporting and increasing friction force during attaching, the machine body 3 and the camera 4 are prevented from sliding downwards during detection, when the top plate 704 moves outwards, the sliding block 703 slides in the top plate 704, and the supporting rod 702 performs supporting operation.

In the description of the present invention, it is to be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "other end", "upper", "one side", "top", "inner", "front", "center", "both ends", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "disposed," "connected," "fixed," "screwed" and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, and may be connected through the inside of two elements or in an interaction relationship between two elements, unless otherwise specifically defined, and the specific meaning of the above terms in the present invention will be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a crawl formula pipeline robot running gear, includes pipeline (1), its characterized in that: the pipeline structure is characterized in that a moving component (2) is installed on the inner wall of the pipeline (1), an organism (3) is installed inside the moving component (2), a camera (4) is installed on the right side of the organism (3) on the right side, a steering component (5) is installed between the organisms (3), connecting wires (6) are fixedly connected to the upper end and the lower end of the inner side of the steering component (5), the connecting wires (6) are connected with electrodes of the organisms (3), and a parking device (7) is installed on the left side of the organism (3) on the left side;

parking equipment (7) are including picture peg (701), vaulting pole (702), slider (703), roof (704) and hydraulic stem (705), both ends all rotate about the outer wall right side of picture peg (701) and are connected with vaulting pole (702), the outside of vaulting pole (702) is rotated and is connected with slider (703), the outside sliding connection of slider (703) has roof (704), the rigid coupling has hydraulic stem (705) between roof (704) and picture peg (701).

2. The walking mechanism of crawl-type pipe robot according to claim 1, wherein: the outer wall of the top plate (704) is machined with grinding grains.

3. The walking mechanism of crawl-type pipe robot according to claim 1, wherein: remove component (2) including crown plate (201), sleeve pipe (202), first spring (203), branch (204) and gyro wheel (205), the equal rigid coupling in both ends has sleeve pipe (202) about the outer wall of crown plate (201), the inner wall rigid coupling of sleeve pipe (202) has first spring (203), the outside rigid coupling of first spring (203) has branch (204), the outside of branch (204) is rotated and is connected with gyro wheel (205).

4. The walking mechanism of crawl-type pipe robot according to claim 3, wherein: the roller (205) is made of rubber wheels.

5. The walking mechanism of crawl-type pipe robot according to claim 1, wherein: the steering component (5) comprises a supporting plate (501), a pressing block (502), a second spring (503), a semi-sphere (504) and a sphere (505), the pressing block (502) is inserted into the upper side and the lower side of the supporting plate (501), the second spring (503) is fixedly connected between the pressing blocks (502), the sphere (505) and the semi-sphere (504) are fixedly connected to the center of the inner wall of the supporting plate (501) respectively, and the sphere (505) is connected with the semi-sphere (504) in a rotating mode.

6. The crawling type pipeline robot traveling mechanism according to claim 5, wherein: the pressing block (502) and the second spring (503) are symmetrically arranged.