CN214348407U - In-pipe self-adaptive walking system - Google Patents
In-pipe self-adaptive walking system Download PDFInfo
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- CN214348407U CN214348407U CN202022634875.0U CN202022634875U CN214348407U CN 214348407 U CN214348407 U CN 214348407U CN 202022634875 U CN202022634875 U CN 202022634875U CN 214348407 U CN214348407 U CN 214348407U
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- 230000003044 adaptive effect Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 description 9
- 238000004140 cleaning Methods 0.000 description 8
- 230000008602 contraction Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
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- 230000006978 adaptation Effects 0.000 description 2
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Abstract
The utility model discloses an intraductal self-adaptation traveling system, include: the power device is provided with a mounting seat at one end and a shaft lever at the other end; the device comprises a plurality of groups of driving wheel travelling mechanisms, wherein each group of driving wheel travelling mechanism comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with a mounting seat, and the other end of the first connecting rod is hinged with the driving wheel; the device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, an adjusting rod and a regulating system, a fixed seat and a sliding seat are arranged on a shaft rod at intervals, one end of the second connecting rod is hinged with the fixed seat, one end of the adjusting rod is hinged with the sliding seat, the other end of the adjusting rod is hinged with the middle part of the second connecting rod, and the regulating system is connected with the sliding seat to control the sliding seat to move along the shaft rod; and the driven wheel walking mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod.
Description
Technical Field
The utility model relates to a clean technical field of pipeline especially relates to an intraductal self-adaptation traveling system.
Background
The pipe diameter of the inner wall of the current large cable sleeve generally changes in phi 270-phi 600, and the inner wall surface of the current large cable sleeve is an inner conical surface of phi 270-phi 600 or a combination of a plurality of discontinuous inner conical surfaces. When the sleeve is installed, the inner wall of the sleeve needs to be cleaned, and the inner wall is ensured to be clean and free of impurities such as stains, dust and tiny particles, so that the insulation safety under high voltage and ultrahigh voltage is ensured. Conventional cleaning devices are difficult to adapt to the conditions of their pipe diameter. Therefore, at present, the large-scale cable terminal sleeve still adopts a manual cleaning mode, the manual cleaning is difficult and inefficient, in order to prevent carrying dirt into a pipeline or causing secondary pollution, a preservative film is required to be wrapped on the whole body in advance and then enters a long and narrow pipeline for cleaning, the operation space is limited, and the comprehensive cleaning cannot be realized.
In order to clean the inner wall of the sleeve, a walking system corresponding to the cleaning equipment for cleaning the inner wall of the sleeve needs to have adjusting capability of contraction and extension so as to adapt to the condition of pipe diameter change of the cable sleeve.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides an intraductal self-adaptation traveling system can the change of self-adaptation pipe diameter when the intraductal walking of reducing cover.
The embodiment of the utility model provides an adopted technical scheme is: an in-pipe adaptive walking system comprising: the power device is provided with a mounting seat at one end and a shaft lever at the other end; the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, the other end of the first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel so as to drive the driving wheel to travel; the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, an adjusting rod and a regulating system, a fixed seat and a sliding seat are arranged on the shaft rod at intervals, the fixed seats are fixedly arranged on the shaft rod, the sliding seats are movably arranged on the shaft rod, one end of the second connecting rod is hinged with the fixed seats, one end of the adjusting rod is hinged with the sliding seats, the other end of the adjusting rod is hinged with the middle part of the second connecting rod, and the regulating system is connected with the sliding seats to control the sliding seats to move along the shaft rod; and the driven wheel walking mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod.
According to the utility model discloses intraductal self-adaptation traveling system has following beneficial effect at least: the application discloses intraductal self-adaptation traveling system can contract or extend along with the change of pipe diameter when the intraductal moving of pipe diameter change to the condition that the adaptation cable sleeve pipe diameter changed, and then accomplish at intraductal self-adaptation walking.
According to some embodiments of the utility model, regulation and control system includes step motor and pressure sensor, the axostylus axostyle is ball screw, the sliding seat is for setting up screw-nut on the ball screw, ball screw with the step motor transmission is connected, pressure sensor sets up be used for monitoring on the regulation pole adjust the pressure that the pole bore, pressure sensor with the automatically controlled connection of step motor.
According to some embodiments of the utility model, regulation and control system includes compression spring and cushion cap, the cushion cap sets firmly on the axostylus axostyle, the sliding seat is located the cushion cap with between the fixing base, compression spring sets up the cushion cap with between the sliding seat, just compression spring suit is in on the axostylus axostyle.
According to some embodiments of the utility model, from the driving wheel pass through fine-tuning with the third connecting rod is connected, fine-tuning includes spring mount pad, guide bar and fine setting spring, the spring mount pad is installed on the third connecting rod, the vertical setting of guide bar is in on the spring mount pad, be equipped with the guiding hole on the base from the driving wheel, from the driving wheel pass through the guiding hole with guide bar swing joint, the fine setting spring sets up from the driving wheel with between the spring mount pad, the one end of fine setting spring with the base from the driving wheel is connected, the other end with the spring mount pad is connected.
According to some embodiments of the present invention, the power device and the driving wheel are in transmission connection through a chain transmission mechanism.
According to some embodiments of the present invention, the power device comprises an installation housing and a power motor disposed in the installation housing and a battery connected to the power motor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural view of an in-pipe adaptive walking system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a variable diameter adjustment device;
fig. 3 is a schematic view of a connection structure between the driven wheel and the fine adjustment mechanism.
Reference numerals:
the power device 100, the mounting seat 110, the shaft rod 120, the fixed seat 121 and the sliding seat 122;
a driving wheel 210, a first connecting rod 220;
a second connecting rod 310, an adjusting lever 320;
a third connecting rod 410, a driven wheel 420 and a base 421;
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
In addition, the technical solutions between the embodiments of the present invention can be combined with each other, but it is necessary to be able to be realized by a person having ordinary skill in the art as a basis, and when the technical solutions are contradictory or cannot be realized, the combination of such technical solutions should be considered to be absent, and is not within the protection scope of the present invention.
An in-pipe adaptive walking system according to an embodiment of the present invention is described below with reference to fig. 1 to 3.
As shown in fig. 1 and fig. 2, the self-adaptive walking system in pipe according to the embodiment of the present invention includes:
the power device 100, one end of the power device 100 is provided with a mounting seat 110, and the other end is provided with a shaft rod 120;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel 210 and a first connecting rod 220, one end of the first connecting rod 220 is hinged with the mounting seat 110, the other end of the first connecting rod is connected with the driving wheel 210, and the power device 100 is in transmission connection with the driving wheel 210 to drive the driving wheel 210 to travel;
the variable diameter adjusting device comprises a plurality of groups of variable diameter mechanisms, each group of variable diameter mechanisms comprises a second connecting rod 310, an adjusting rod 320 and a regulating system, a fixed seat 121 and a sliding seat 122 are arranged on the shaft rod 120 at intervals, the fixed seat 121 is fixedly arranged on the shaft rod 120, the sliding seat 122 is movably arranged on the shaft rod 120, one end of the second connecting rod 310 is hinged to the fixed seat 121, one end of the adjusting rod 320 is hinged to the sliding seat 122, the other end of the adjusting rod is hinged to the middle of the second connecting rod 310, and the regulating system is connected with the sliding seat 122 to control the sliding seat 122 to move along the shaft rod 120;
the driven wheel traveling mechanism comprises a third connecting rod 410 and a driven wheel 420, wherein one end of the third connecting rod 410 is hinged with the other end of the second connecting rod 310, the other end of the third connecting rod 410 is hinged with the middle part of the first connecting rod 220, and the driven wheel 420 is arranged on the third connecting rod 410.
The application discloses intraductal self-adaptation traveling system can contract or extend along with the change of pipe diameter when the intraductal moving of pipe diameter change to the condition that the adaptation cable sleeve pipe diameter changed, and then accomplish at intraductal self-adaptation walking.
Specifically, when the traveling system travels along the direction in which the pipe diameter of the casing pipe is continuously reduced. The power device 100 provides power to drive the driving wheel 210 to walk in the pipe. In the walking process, the pressure between the driving wheel 210 and the driven wheel 420 and the pipe wall is increased along with the continuous reduction of the pipe diameter. When the pressure is monitored by the regulating device to be increased, the sliding seat 122 is controlled to move towards the direction away from the fixed seat 121, and along with the movement of the sliding seat 122, the third connecting rod 410 is driven to move towards the shaft rod 120 through the adjusting rod 320 and the second connecting rod 310 in sequence, so that the driven wheel 420 and the driving wheel 210 contract inwards, and the whole walking system contracts continuously, thereby adapting to the condition that the pipe diameter is reduced continuously.
And when the walking system walks along the direction that the pipe diameter of the sleeve pipe becomes bigger continuously. In the walking process, as the pipe diameter is continuously increased, the pressure between the driving wheel 210 and the driven wheel 420 and the pipe wall is reduced. After the pressure is monitored by the regulating device to be reduced, the sliding seat 122 is controlled to move towards the direction close to the fixed seat 121, and along with the movement of the sliding seat 122, the third connecting rod 410 is driven to move away from the shaft rod 120 through the adjusting rod 320 and the second connecting rod 310 in sequence, so that the driven wheel 420 and the driving wheel 210 move outwards in an extending manner, and the traveling system continuously extends, thereby adapting to the condition that the pipe diameter is continuously increased.
The motion direction of sliding seat 122 is controlled through the regulation and control device to the application to inwards contract or outwards extend from driving wheel 420 and driving wheel 210 through four-bar linkage control, make the running system can adapt to the change of pipe diameter when the intraductal walking.
As shown in fig. 1, in some embodiments of the present invention, the regulating system includes a stepping motor and a pressure sensor, the shaft rod 120 is a ball screw, the sliding seat 122 is a screw nut disposed on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is disposed on the adjusting rod 320 for monitoring the pressure borne by the adjusting rod 320, and the pressure sensor is in electrical connection with the stepping motor.
As the traveling system travels within the tube, the driven wheel 420 and the driving wheel 210 are subjected to varying pressures from the tube wall. After the pressure sensor arranged on the adjusting rod 320 monitors that the pressure is continuously increased, the stepping motor receives an electric signal and then rotates forwards or backwards to drive the ball screw to rotate forwards, and the screw nut on the ball screw linearly moves on the ball screw to control the contraction or extension through the four-bar mechanism. The pressure between the driven wheel 420 and the driving wheel 210 and the pipe wall is always kept in a stable range, so that the pipe diameter change is adapted.
As shown in fig. 2, in some embodiments of the present invention, the regulating system includes a compression spring 610 and a platform 620, the platform 620 is fixed on the shaft 120, the sliding seat 122 is located between the platform 620 and the fixing seat 121, the compression spring 610 is disposed between the platform 620 and the sliding seat 122, and the compression spring 610 is sleeved on the shaft 120.
In this embodiment, when the traveling system travels along the direction in which the pipe diameter of the casing pipe is continuously reduced, the driven wheel 420 and the driving wheel 210 receive pressure from the pipe wall to increase, so as to press the four-bar linkage to contract, and the compression spring 610 receives pressure to increase, so as to perform adaptive contraction, so that the entire traveling system contracts.
And when the walking system walks along the direction that the pipe diameter of the sleeve pipe becomes bigger continuously. The driven wheel 420 and the driving wheel 210 are subjected to reduced pressure from the pipe wall, and the compression spring 610 is subjected to reduced pressure and gradually extends to push the four-bar linkage to extend, so that the whole walking system extends outwards. By providing the compression spring 610, the driven wheel 420 and the driving wheel 210 are balanced by the pressure from the tube wall and the elastic force between the compression spring 610, so as to automatically adapt to the change of the tube diameter, and the embodiment is simpler than the structure of the stepping motor and the ball wire.
As shown in fig. 1 and 3, in some embodiments of the present invention, driven wheel 420 is connected with third connecting rod 410 through fine adjustment mechanism, fine adjustment mechanism includes spring mount 710, guide rod 720 and fine adjustment spring 730, spring mount 710 is installed on third connecting rod 410, guide rod 720 is vertically set on spring mount 710, be equipped with the guiding hole on base 421 of driven wheel 420, driven wheel 420 passes through guiding hole and guide rod 720 swing joint, fine adjustment spring 730 sets up between driven wheel 420 and spring mount 710, the one end of fine adjustment spring 730 is connected with the base of driven wheel 420, the other end is connected with spring mount 710.
During the running process of the running system in the pipe, the driven wheel 420 and the driving wheel 210 need to be ensured to be always in contact with the pipe wall. And four link mechanism that this application adopted, after one of them connecting rod position changes, the position of other connecting rods can follow the linkage. Therefore, the driven wheel 420 and the driving wheel 210 can be synchronously contracted or expanded on the same connecting line, and the inclined angle of the connecting line between the driven wheel 420 and the driving wheel 210 is fixed. Can only be used with sleeves with corresponding pipe diameter changes. When the sleeves with different pipe diameters are changed (the taper of the inner diameters of the sleeves can be different), the driven wheel 420 can be contacted with the pipe wall, and the driving wheel 210 is in a suspended state; or the driving wheel 210 is in contact with the pipe wall, and the driven wheel 420 is still in a suspended state. Or the pipe diameter of the sleeve is not changed, but the pipe diameter of a section of interval is reduced, and the pipe diameter of a section of interval is increased, so that the adaptability adjustment is difficult.
In order to solve the above problem, the present application further connects the driven wheel 420 to the third link 410 through a fine adjustment mechanism, so that the driven wheel 420 itself has a certain automatic adjustment capability. When cleaning sleeves of different pipe diameters, the driven wheel 420 contracts or extends along the guide rod 720 under the action of the fine adjustment spring 730, so that the inclination angle of the connecting line between the driven wheel 420 and the driving wheel 210 is changed, the sleeve with different pipe diameters can be adapted, and the applicability and the universality of the walking device are improved.
In some embodiments of the present invention, the power device 100 is in transmission connection with the driving wheel 210 through a chain transmission mechanism. The power of the motor is transmitted to the chain wheel through the worm gear and the worm, and then the driving wheel 210 is driven to travel through the chain wheel transmission.
In some embodiments of the present invention, the power device 100 includes a mounting housing and a power motor disposed within the mounting housing and a battery connected to the power motor. Power motor and battery are all installed in the installation shell, improve equipment's safety protection performance, and the battery provides the electric energy for whole equipment, guarantees that whole equipment need not the outside power supply that provides when intraductal walking, improve equipment's independence.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (6)
1. An in-pipe adaptive walking system, comprising:
the power device is provided with a mounting seat at one end and a shaft lever at the other end;
the driving wheel traveling device comprises a plurality of groups of driving wheel traveling mechanisms, each group of driving wheel traveling mechanisms comprises a driving wheel and a first connecting rod, one end of the first connecting rod is hinged with the mounting seat, the other end of the first connecting rod is connected with the driving wheel, and the power device is in transmission connection with the driving wheel so as to drive the driving wheel to travel;
the reducing adjusting device comprises a plurality of groups of reducing mechanisms, each group of reducing mechanisms comprises a second connecting rod, an adjusting rod and a regulating system, a fixed seat and a sliding seat are arranged on the shaft rod at intervals, the fixed seats are fixedly arranged on the shaft rod, the sliding seats are movably arranged on the shaft rod, one end of the second connecting rod is hinged with the fixed seats, one end of the adjusting rod is hinged with the sliding seats, the other end of the adjusting rod is hinged with the middle part of the second connecting rod, and the regulating system is connected with the sliding seats to control the sliding seats to move along the shaft rod;
and the driven wheel walking mechanism comprises a third connecting rod and a driven wheel, one end of the third connecting rod is hinged with the other end of the second connecting rod, the other end of the third connecting rod is hinged with the middle part of the first connecting rod, and the driven wheel is arranged on the third connecting rod.
2. The adaptive walking system in pipe according to claim 1, wherein: the regulating system comprises a stepping motor and a pressure sensor, the shaft rod is a ball screw, the sliding seat is a screw nut arranged on the ball screw, the ball screw is in transmission connection with the stepping motor, the pressure sensor is arranged on the adjusting rod and used for monitoring the pressure borne by the adjusting rod, and the pressure sensor is in electric control connection with the stepping motor.
3. The adaptive walking system in pipe according to claim 1, wherein: the regulating system comprises a compression spring and a bearing platform, the bearing platform is fixedly arranged on the shaft rod, the sliding seat is positioned between the bearing platform and the fixed seat, the compression spring is arranged between the bearing platform and the sliding seat, and the compression spring is sleeved on the shaft rod.
4. The adaptive walking system in pipe according to any one of claims 1 to 3, wherein: the driven wheel is connected with the third connecting rod through a fine adjustment mechanism, the fine adjustment mechanism comprises a spring mounting seat, a guide rod and a fine adjustment spring, the spring mounting seat is mounted on the third connecting rod, the guide rod is vertically arranged on the spring mounting seat, a guide hole is formed in a base of the driven wheel, the driven wheel is movably connected with the guide rod through the guide hole, the fine adjustment spring is arranged between the driven wheel and the spring mounting seat, one end of the fine adjustment spring is connected with the base of the driven wheel, and the other end of the fine adjustment spring is connected with the spring mounting seat.
5. The adaptive walking system in pipe according to any one of claims 1 to 3, wherein: the power device is in transmission connection with the driving wheel through a chain transmission mechanism.
6. The adaptive walking system in pipe according to any one of claims 1 to 3, wherein: the power device comprises an installation shell, a power motor arranged in the installation shell and a battery connected with the power motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022634875.0U CN214348407U (en) | 2020-11-13 | 2020-11-13 | In-pipe self-adaptive walking system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022634875.0U CN214348407U (en) | 2020-11-13 | 2020-11-13 | In-pipe self-adaptive walking system |
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| CN214348407U true CN214348407U (en) | 2021-10-08 |
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| CN202022634875.0U Active CN214348407U (en) | 2020-11-13 | 2020-11-13 | In-pipe self-adaptive walking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112474641A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | In-pipe self-adaptive walking system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112474641A (en) * | 2020-11-13 | 2021-03-12 | 长缆电工科技股份有限公司 | In-pipe self-adaptive walking system |
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Address after: 410000 No. 223, tongzipo West Road, Lugu Industrial Park, high tech Development Zone, Changsha, Hunan Patentee after: Long Cable Technology Group Co.,Ltd. Country or region after: China Address before: No.223, tongzipo West Road, Lugu Industrial Park, high tech Development Zone, Changsha City, Hunan Province, 410205 Patentee before: CHANGLAN CABLE ACCESSORIES Co.,Ltd. Country or region before: China |