CN214699780U - Pipeline internal climbing device - Google Patents
Pipeline internal climbing device Download PDFInfo
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- CN214699780U CN214699780U CN202120938152.1U CN202120938152U CN214699780U CN 214699780 U CN214699780 U CN 214699780U CN 202120938152 U CN202120938152 U CN 202120938152U CN 214699780 U CN214699780 U CN 214699780U
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Abstract
The utility model provides a crawler in a pipeline, which belongs to the technical field of detection equipment and comprises a micro integrated hydraulic station, a walking hydraulic cylinder and a supporting unit; the supporting unit comprises a support, a jacking hydraulic cylinder, a supporting mechanism and a jacking mechanism, the support comprises a rotating shaft, a fixed disc and a plurality of guide rods, the fixed disc is connected to two ends of the rotating shaft, a cylinder barrel of the jacking hydraulic cylinder is hinged to the fixed disc, and a piston rod of the jacking hydraulic cylinder is hinged to the rotating shaft through a rocker arm; the supporting mechanism comprises an elastic frame and a supporting wheel, and the elastic frame is arranged on the guide rod; the jacking mechanism comprises an ejector rod, a connecting rod, an ear plate and a top plate, the top plate is fixed at the first end of the ejector rod, the ear plate is fixed at one end, close to the micro integrated hydraulic station, of the rotating shaft, the connecting rod is hinged to the second ends of the ear plate and the ejector rod, and the third end of the ejector rod is connected to the guide rod. The utility model provides a crawl device in pipeline has good self-locking function, prevents to fall back when advancing, has good curved ability of crossing, uses in a flexible way, the reliable operation.
Description
Technical Field
The utility model belongs to the technical field of maintenance, check out test set, concretely relates to crawl device in pipeline.
Background
At present, industries such as petroleum, chemical industry, natural gas and nuclear industry are rapidly developed, and various pipelines are widely applied as an important material conveying facility. Meanwhile, due to the effects of corrosion, heavy pressure and the like, the pipeline inevitably has the phenomena of cracks, leak holes and the like. Limited by space or geographical position, people are difficult to directly intervene in the pipeline, so that manual maintenance is difficult and high in cost.
Under the promotion of modern computer technology and mechanical manufacturing technology, the robot in the pipeline is produced at the same time, and the operation tasks generally born by the robot in the pipeline comprise image collection in the pipeline, pipeline defect detection and flaw detection, dredging, repair and the like. This requires good motion performance, load capacity and high reliability of the robot in the pipeline.
The pipeline crawler is a key unit of the in-pipe robot as a dragging unit, can work in a specific space where a pipeline belongs, can carry various detection instruments or operation devices, and enters the pipe under the remote control or autonomous control of an operator to complete operation tasks such as pipeline defect detection, detection and coating of an anticorrosive coating, identification and removal of foreign matters in the pipe, processing in the pipe, cleaning in the pipe and the like.
At present, the driving modes of pipeline crawlers mainly comprise two types of medium pressure difference driving and autonomous walking, and crawlers with autonomous walking capability are divided into types of wheel type in-pipe movement, crawler type in-pipe movement, peristaltic type in-pipe movement and the like according to different driving modes. The small curvature of the pipe at the bend requires a crawler and instrumentation string to pass very smoothly.
The pipeline crawler plays an important role in pipeline detection and maintenance, and the stability and reliability of a crawling mechanism are the premise and the foundation of the work of the robot. In the operation process of the pipeline crawler, the speed and the stability of the operation speed of the pipeline crawler, the motion performance of over-bending capability, obstacle crossing capability and the like directly relate to the quality of the operation effect. The prior pipeline crawler has insufficient crawling power, and the walking stability, the walking speed and other aspects need to be improved.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a crawl device in pipeline can improve the power of crawl device, improve walking speed and the stability of walking to have the curved ability of good mistake.
In order to achieve the above object, the utility model adopts the following technical scheme: there is provided an in-pipeline crawler comprising: the system comprises a micro integrated hydraulic station, a traveling hydraulic cylinder communicated with the micro integrated hydraulic station and support units hinged to two ends of the traveling hydraulic cylinder; the supporting unit comprises a support, a jacking hydraulic cylinder, a supporting mechanism and a jacking mechanism, the support comprises a rotating shaft, fixed disks connected to two ends of the rotating shaft and a plurality of guide rods uniformly fixed between the two fixed disks in the circumferential direction, a cylinder barrel of the jacking hydraulic cylinder is hinged to the fixed disk close to the micro integrated hydraulic station, and a piston rod of the jacking hydraulic cylinder is hinged to the rotating shaft through a rocker arm; the supporting mechanism comprises an elastic frame and a supporting wheel hinged to the elastic frame, the elastic frame is arranged on the guide rod, and the supporting wheel is supported on the inner wall of the pipeline; the jacking mechanism comprises a push rod, a connecting rod, an ear plate and a top plate, the top plate is fixed at the first end of the push rod, the ear plate is fixed at one end, close to the rotating shaft, of the miniature integrated hydraulic station, the connecting rod is hinged to the ear plate and the second end of the push rod, and the third end of the push rod is connected to the guide rod.
In a possible implementation manner, each of the supporting units includes a plurality of the tightening mechanisms and a plurality of the supporting mechanisms, and the tightening mechanism and the supporting mechanism are provided on the same guide rod.
In a possible implementation manner, each of the supporting units includes a plurality of the tightening mechanisms and a plurality of the supporting mechanisms, and the tightening mechanisms and the supporting mechanisms are alternately arranged on different guide rods.
In one possible implementation, the elastic frame comprises a first support arm, a second support arm and an elastic member; two ends of the first supporting arm are respectively hinged with the supporting wheel and the guide rod; one end of the second supporting arm is hinged with the supporting wheel, and the other end of the second supporting arm is hinged with a sliding block in sliding fit with the guide rod; the elastic piece suit is in on the guide bar, the one end of elastic piece is connected the slider, the other end of elastic piece is connected and is close to the slider the fixed disk.
In a possible implementation manner, a connecting cap is arranged at one end, close to the micro integrated hydraulic station, of the fixed disc, a connecting cap is rotatably connected with one end, close to the micro integrated hydraulic station, of the rotating shaft, and the connecting cap is provided with a groove for swinging the rocker arm; the connecting caps on the two sides are respectively hinged with the cylinder body and the piston rod of the walking hydraulic cylinder.
In a possible implementation manner, a protruding part is radially arranged on the fixed disc close to the micro integrated hydraulic station, a connecting seat is arranged on the protruding part, and a cylinder body of the jacking hydraulic cylinder is hinged on the connecting seat.
In one possible implementation, the bracket comprises 3-8 guide rods.
In one possible implementation, the second end of the stem lifter is intermediate the first end and the third end.
In a possible implementation, the top plate is an arc-shaped plate matched with the inner wall of the pipeline.
In a possible implementation manner, a rubber cushion block is arranged on the top plate.
Compared with the prior art, the crawling device in the pipeline provided by the utility model has the advantages that when the piston rod of the jacking hydraulic cylinder extends out, the rocker arm drives the rotating shaft to rotate, so that the connecting rod, the ejector rod and the rotating shaft are driven to rotate together through the lug plate connected with the rotating shaft, the jacking mechanism is contracted, and the top plate is separated from the pipe wall; when a piston rod of the jacking hydraulic cylinder retracts, the rotating shaft is driven to rotate in the opposite direction through the rocker arm, so that the connecting rod, the ejector rod and the rotating shaft are driven to rotate together through the lug plate on the rotating shaft, the jacking mechanism is opened, and the top plate jacks against the pipe wall; the supporting mechanism is arranged on the guide rod, and when the pipe wall is convexly deformed, the elastic frame deforms to ensure that the supporting wheels are in close contact with the pipe wall, so that the pipe wall has high flexibility.
The utility model uses the micro integrated hydraulic station as a power source to provide strong power, can stably crawl in pipelines with and without media, and the jacking mechanism and the pipe wall are tightly jacked, thereby having good self-locking function and preventing backward movement when advancing, and therefore, the utility model can be used in pipelines with large inclination angles; the hydraulic power source has larger traction force, stronger climbing capability and environmental adaptability, and the walking speed is high and stable through strong power; the walking hydraulic cylinder is hinged with the jacking hydraulic cylinder, so that the device has good over-bending capacity and can pass through a horizontal straight pipe, bent pipes with various angles, a slope pipe, a vertical pipe and the like; the crawler has the advantages of simple structure, convenience in installation, flexibility in use, reliability in work, lower cost and good practicability.
Drawings
Fig. 1 is a schematic structural view of a supporting and propping state of a crawler in a pipeline according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a circumferential tightening state of a tightening mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a circumferential contraction state of a tightening mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a circumferential arrangement of the supporting mechanism provided in the embodiment of the present invention;
fig. 5 is a schematic structural diagram of an arrangement of a jacking hydraulic cylinder according to an embodiment of the present invention;
fig. 6 is a schematic structural view of the crawler in the pipeline in the states of rear end tightening, front end withdrawing, and walking hydraulic cylinder retracting provided by the embodiment of the present invention;
fig. 7 is a schematic structural view of the crawler in the pipeline in which the rear end is tightly pushed, the front end is retracted, and the walking hydraulic cylinder is in an extended state according to the embodiment of the present invention;
fig. 8 is a schematic structural view of the crawler in the pipeline in the state of retracting the rear end, pushing the front end tightly, and extending the walking hydraulic cylinder according to the embodiment of the present invention;
fig. 9 is a schematic structural view of the crawler in the pipeline in the states of the retracting rear end, the pushing front end and the retracting walking hydraulic cylinder according to the embodiment of the present invention;
description of reference numerals:
1. a miniature integrated hydraulic station; 2. a traveling hydraulic cylinder; 3. tightly pushing the hydraulic cylinder; 4. a jacking mechanism; 41. a connecting rod; 42. a rubber cushion block; 43. a top plate; 44. a top rod; 45. an ear plate; 5. a guide bar; 6. fixing the disc; 7. a rotating shaft; 8. a connecting cap; 9. an elastic frame; 91. an elastic member; 92. a second support arm; 93. a first support arm; 10. a pipeline; 11. a support wheel; 12. a rocker arm.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1 to 9 together, the crawler in the pipeline provided by the present invention will now be described. The crawl device in pipeline includes: the system comprises a micro integrated hydraulic station 1, a traveling hydraulic cylinder 2 communicated with the micro integrated hydraulic station 1 and support units hinged to two ends of the traveling hydraulic cylinder 2; the supporting unit comprises a support, a jacking hydraulic cylinder 3, a supporting mechanism and a jacking mechanism 4, the support comprises a rotating shaft 7, fixed disks 6 connected to two ends of the rotating shaft 7 and a plurality of guide rods 5 uniformly fixed between the two fixed disks 6 in the circumferential direction, a cylinder barrel of the jacking hydraulic cylinder 3 is hinged to the fixed disk 6 close to the micro integrated hydraulic station 1, and a piston rod of the jacking hydraulic cylinder 3 is hinged to the rotating shaft 7 through a rocker arm 12; the supporting mechanism comprises an elastic frame 9 and a supporting wheel 11 hinged to the elastic frame 9, the elastic frame 9 is arranged on the guide rod 5, and the supporting wheel 11 is supported on the inner wall of the pipeline 10; the jacking mechanism 4 comprises a push rod 44, a connecting rod 41, an ear plate 45 and a top plate 43, the top plate 43 is fixed at the first end of the push rod 44, the ear plate 45 is fixed at one end of the rotating shaft 7 close to the micro integrated hydraulic station 1, the connecting rod 41 is hinged at the second ends of the ear plate 45 and the push rod 44, and the third end of the push rod 44 is connected to the guide rod 5.
The crawler in the pipeline provided by the embodiment utilizes the micro integrated hydraulic station 1 as a power source to provide strong power, can stably crawl in the pipeline 10 with and without media, and the jacking mechanism 4 is tightly jacked with the pipeline wall, has good self-locking function and prevents backward movement when advancing, so that the crawler in the pipeline 10 with a large inclination angle can be used; the hydraulic power source has larger traction force, stronger climbing capability and environmental adaptability, and the walking speed is high and stable through strong power; the supporting wheels 11 of the supporting mechanism are always in contact with the pipe wall, so that the walking is flexible, and the supporting is reliable; the walking hydraulic cylinder 2 is hinged with the supporting unit, so that the walking hydraulic cylinder has good over-bending capacity and can pass through a horizontal straight pipe, bent pipes with various angles, a slope pipe, a vertical pipe and the like; the crawler has the advantages of simple structure, convenience in installation, flexibility in use, reliability in work, lower cost and good practicability.
When the piston rod of the jacking hydraulic cylinder 3 extends out, the rocker arm 12 drives the rotating shaft 7 to rotate, so that the connecting rod 41, the ejector rod 44 and the rotating shaft 7 are driven to rotate together through the lug plate 45 connected with the rotating shaft 7, the jacking mechanism 4 is contracted, and the top plate 43 is separated from the pipe wall; when the piston rod of the jacking hydraulic cylinder 3 retracts, the rotating shaft 7 is driven to rotate in the opposite direction through the rocker arm 12, so that the connecting rod 41, the ejector rod 44 and the rotating shaft 7 are driven to rotate together through the ear plate 45 on the rotating shaft 7, the jacking mechanism 4 is opened, the top plate 43 jacks the pipe wall, when the jacking mechanism 4 on one side of the micro integrated hydraulic station 1 is separated from the pipe wall, the jacking mechanism 4 on the other side jacks the pipe wall, and the crawler travels along the pipeline 10 along with the extension and retraction of the piston rod of the traveling hydraulic cylinder 2; the supporting mechanism is arranged on the guide rod 5, and when the pipe wall is convexly deformed, the elastic frame 9 deforms to ensure that the supporting wheels 11 are always in close contact with the pipe wall, so that the supporting mechanism has high flexibility.
Specifically, two groups of symmetrically arranged supporting units are connected with two ends of the walking hydraulic cylinder 2 through ball-joint type universal couplings, so that the device can adapt to different pipeline curvatures and pipeline turning, and the flexibility and the passing capacity of the pipeline crawler moving in the pipeline 10 are enhanced.
As shown in fig. 8 to 9, when the right tightening mechanism 4 tightens against the pipe wall, the left tightening mechanism 4 is separated from the pipe wall, and the piston rod of the traveling hydraulic cylinder 2 retracts to drive the left tightening mechanism 4 to move rightwards; referring to fig. 6 and 7, when the jacking hydraulic cylinder 3 and the traveling hydraulic cylinder 2 reach the stop points, the left jacking hydraulic cylinder 3 reversely acts to push the jacking mechanism 4 to jack the pipe wall, the right jacking hydraulic cylinder 3 relatively reversely acts to push the jacking mechanism 4 to separate from the pipe wall, and by means of the jacking mechanism 4, a piston rod of the traveling hydraulic cylinder 2 extends out to push the right jacking mechanism 4 to move rightwards, so that the crawler travels in a circulating manner.
As an improved embodiment, referring to fig. 1, each supporting unit includes a plurality of tightening mechanisms and a plurality of supporting mechanisms, and the tightening mechanism and the supporting mechanism are provided on the same guiding rod. The climbing device is characterized in that a jacking mechanism and a supporting mechanism are arranged on one guide rod simultaneously, according to the principle of three-point co-circle, the three jacking mechanisms and the three supporting mechanisms are arranged, so that the stable work of the climbing device can be kept, the complexity of the structure can be reduced, the structure is compact, the occupied size of the climbing device is reduced, and the climbing device is beneficial to climbing in small pipelines.
As a modified embodiment, each supporting unit includes a plurality of tightening mechanisms 4 and a plurality of supporting mechanisms, and the tightening mechanisms 4 and the supporting mechanisms are alternately arranged on different guide rods 5 (not shown in the present embodiment). The supporting wheels 11 of each supporting mechanism can act independently, and the flexibility is strong.
Based on the above-described features, referring to fig. 1, as a modified embodiment of the support mechanism, the elastic frame 9 includes a first support arm 93, a second support arm 92, and an elastic member 91; two ends of the first supporting arm 93 are respectively hinged with the supporting wheel 11 and the guide rod 5; one end of the second supporting arm 92 is hinged with the supporting wheel 11, and the other end of the second supporting arm 92 is hinged with a sliding block which is in sliding fit with the guide rod 5; the elastic piece 91 is sleeved on the guide rod 5, one end of the elastic piece 91 is connected with the sliding block, and the other end of the elastic piece 91 is connected with the fixed disk 6 close to the sliding block. The supporting mechanism adjusts the radial support of the supporting wheel 11 through the elasticity of the elastic piece 91 and the matching of the sliding block, and can adjust according to the unevenness characteristic of the inner wall of the pipeline 10 at any time, so that the supporting wheel 11 can walk along the inner wall of the pipeline 10 all the time.
As another embodiment of the support mechanism, the elastic member 91 may be further connected between the first support arm 93 and the second support arm 92. By the design, the transverse occupied space can be reduced.
As an embodiment of the supporting unit, referring to fig. 1, the bracket has a structure that, in particular, a connecting cap 8 is arranged at one end of the fixed disc 6 close to the micro integrated hydraulic station 1, one end of the rotating shaft 7 close to the micro integrated hydraulic station 1 is rotatably connected with the connecting cap 8, and the connecting cap 8 is provided with a groove for swinging the rocker arm 12; the connecting caps 8 on the two sides are respectively hinged with the cylinder body and the piston rod of the walking hydraulic cylinder 2. The connecting cap 8 can be welded on the end face of the fixed disk 6, and can also be connected on the end face of the fixed disk 6 through bolts, the rotating shaft can freely rotate around the axis of the fixed disk, a groove is formed in the connecting cap 8, and the rocker arm 12 can conveniently penetrate out and swing. Wherein, the axial center of the connecting cap 8 is provided with a connecting block so as to be articulated with the micro integrated hydraulic station 1.
As shown in fig. 1 and 5, a fixing disc 6 close to the micro integrated hydraulic station 1 is radially provided with a convex part, the convex part is provided with a connecting seat, and a cylinder barrel of the jacking hydraulic cylinder 3 is hinged on the connecting seat. The fixed disc 6 is provided with a radial bulge at one end for mounting the micro integrated hydraulic station 1, and provides a stroke space for mounting and acting for tightly pushing the hydraulic cylinder 3.
In one embodiment of the above-described support, the support comprises 3-8 guide rods 5. For example, referring to fig. 1, when the crawler includes 3 guide rods, each guide rod 5 is provided with one supporting mechanism and one tightening mechanism 4, and three supporting mechanisms and three tightening mechanisms 4 are provided, so that the crawler can reliably and stably walk through three points in a common circle.
When the crawler comprises 4 guide rods 5, the following two cases can be distinguished (which are not provided with drawings): firstly, a supporting mechanism and a jacking mechanism 4 are simultaneously arranged on the same guide rod 5, at the moment, the crawler comprises 4 supporting mechanisms and 4 jacking mechanisms, in addition, a plurality of supporting mechanisms and jacking mechanisms can be arranged on the same guide rod 5, and the number of the supporting mechanisms and the number of the jacking mechanisms 4 on the same guide rod 5 can be different; secondly, the supporting mechanism and the jacking mechanism 4 are alternately arranged on different guide rods 5, namely, only the supporting mechanism or the jacking mechanism is arranged on the same guide rod 5, at the moment, the crawler comprises two symmetrical supporting mechanisms and two symmetrical jacking mechanisms, and in addition, the number of the supporting mechanisms and the jacking mechanisms 4 on the same guide rod 5 is not limited.
In other embodiments, different numbers of guide rods 5 can be provided, and different numbers of supporting mechanisms and jacking mechanisms 4 can be provided on each guide rod 5; the supporting mechanism and the jacking mechanism 4 can also be alternately arranged on different guide rods 5; the supporting mechanism and the jacking mechanism 4 are uniformly distributed in the circumferential direction, so that the crawler supports and ensures the walking stability.
As an embodiment of the push rod 44, referring to fig. 2 and 3, the second end of the push rod 44 is located between the first end and the third end. The carrier rod 44 is provided with three connecting ends to facilitate articulation.
Referring to fig. 2 and 3, as a modified embodiment of the present invention, the top plate 43 is an arc plate adapted to the inner wall of the pipeline 10. The contact area between the arc-shaped plate and the inner wall of the pipeline 10 is increased, and the reliability of jacking is improved.
As a modified embodiment, referring to fig. 2, a rubber pad 42 is provided on the top plate 43. The top end of the ejector rod 44 is connected with a top plate 43, a rubber cushion block 42 is adhered to the top plate 43, and when the top plate 43 tightly pushes against the pipe wall, the friction resistance between the top plate 43 and the pipe wall can be increased, and the pipe wall can be protected.
The present embodiment takes right walking as an example, and details the action process of the provided pipeline crawler as follows:
(1) the piston rod of the jacking hydraulic cylinder 3 of the front end jacking mechanism 4 extends out to enable the top plate 43 of the front end jacking mechanism 4 to be separated from the pipe wall, and the piston rod of the jacking hydraulic cylinder 3 of the rear end jacking mechanism 4 retracts to enable the top plate 43 of the rear end jacking mechanism 4 to jack the pipe wall; the piston rod of the walking hydraulic cylinder 2 is in a retraction state, as shown in fig. 6;
(2) the walking hydraulic cylinder 2 has oil fed into a rodless cavity and pushes the front end jacking mechanism 4 to advance, as shown in fig. 7;
(3) the piston rod of the jacking hydraulic cylinder 3 of the front-end jacking mechanism 4 retracts to enable the top plate 43 of the front-end jacking mechanism 4 to jack the pipe wall tightly, and the piston rod of the jacking hydraulic cylinder 3 of the rear-end jacking mechanism 4 extends to enable the top plate 43 of the rear-end jacking mechanism 4 to be separated from the pipe wall; the piston rod of the walking hydraulic cylinder 2 is in an extending state, as shown in fig. 8;
(4) the walking hydraulic cylinder 2 is fed with oil from a rod cavity, and the rear end jacking mechanism 4 is pulled to advance, as shown in fig. 9.
The above (1) - (4) are an action cycle, and the crawler travels by repeatedly cycling.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An in-pipeline crawler, comprising: the system comprises a micro integrated hydraulic station, a traveling hydraulic cylinder communicated with the micro integrated hydraulic station and support units hinged to two ends of the traveling hydraulic cylinder;
the supporting unit comprises a support, a jacking hydraulic cylinder, a supporting mechanism and a jacking mechanism, the support comprises a rotating shaft, fixed disks connected to two ends of the rotating shaft and a plurality of guide rods uniformly fixed between the two fixed disks in the circumferential direction, a cylinder barrel of the jacking hydraulic cylinder is hinged to the fixed disk close to the micro integrated hydraulic station, and a piston rod of the jacking hydraulic cylinder is hinged to the rotating shaft through a rocker arm;
the supporting mechanism comprises an elastic frame and a supporting wheel hinged to the elastic frame, the elastic frame is arranged on the guide rod, and the supporting wheel is supported on the inner wall of the pipeline;
the jacking mechanism comprises a push rod, a connecting rod, an ear plate and a top plate, the top plate is fixed at the first end of the push rod, the ear plate is fixed at one end, close to the rotating shaft, of the miniature integrated hydraulic station, the connecting rod is hinged to the ear plate and the second end of the push rod, and the third end of the push rod is connected to the guide rod.
2. The in-pipe crawler according to claim 1, wherein each of said supporting units comprises a plurality of said tightening mechanisms and a plurality of said supporting mechanisms, said tightening mechanisms and said supporting mechanisms being provided on the same one of said guide rods.
3. The in-pipe crawler according to claim 1, wherein each of said supporting units comprises a plurality of said tightening mechanisms and a plurality of said supporting mechanisms, said tightening mechanisms and said supporting mechanisms being alternately arranged on different said guide rods.
4. The in-pipe crawler according to any one of claims 1 to 3, wherein the resilient mount comprises a first support arm, a second support arm, and a resilient member; two ends of the first supporting arm are respectively hinged with the supporting wheel and the guide rod; one end of the second supporting arm is hinged with the supporting wheel, and the other end of the second supporting arm is hinged with a sliding block in sliding fit with the guide rod; the elastic piece suit is in on the guide bar, the one end of elastic piece is connected the slider, the other end of elastic piece is connected and is close to the slider the fixed disk.
5. The in-pipeline crawler according to claim 1, wherein a connecting cap is arranged at one end of the fixed disc close to the micro integrated hydraulic station, a connecting cap is arranged at one end of the rotating shaft close to the micro integrated hydraulic station, and is rotatably connected with the connecting cap, and the connecting cap is provided with a groove for swinging of the rocker arm; the connecting caps at the two ends are respectively hinged with the cylinder body and the piston rod of the walking hydraulic cylinder.
6. The in-pipeline crawler according to claim 5, wherein a boss is radially arranged on the fixed disk close to the micro integrated hydraulic station, a connecting seat is arranged on the boss, and a cylinder body of the jacking hydraulic cylinder is hinged on the connecting seat.
7. The in-pipe crawler according to claim 1, wherein said rack comprises 3-8 of said guide rods.
8. The in-pipe crawler of claim 1, wherein the second end of said ram is intermediate said first end and a third end.
9. The in-pipe crawler of claim 1, wherein said top plate is an arcuate plate adapted to fit the inner wall of the pipe.
10. The in-pipe crawler according to claim 9, wherein said top plate is provided with rubber pads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120938152.1U CN214699780U (en) | 2021-04-30 | 2021-04-30 | Pipeline internal climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120938152.1U CN214699780U (en) | 2021-04-30 | 2021-04-30 | Pipeline internal climbing device |
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| CN214699780U true CN214699780U (en) | 2021-11-12 |
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| CN202120938152.1U Active CN214699780U (en) | 2021-04-30 | 2021-04-30 | Pipeline internal climbing device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114562509A (en) * | 2022-02-28 | 2022-05-31 | 三一汽车起重机械有限公司 | Locking assembly and operation machine |
| CN114607298A (en) * | 2022-03-15 | 2022-06-10 | 陕西海格瑞恩实业有限公司 | Oil drilling crawler |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
| CN115741636A (en) * | 2022-11-09 | 2023-03-07 | 西安近代化学研究所 | Miniature self-locking robot based on pneumatic hollow shaft actuator and driving method thereof |
-
2021
- 2021-04-30 CN CN202120938152.1U patent/CN214699780U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114562509A (en) * | 2022-02-28 | 2022-05-31 | 三一汽车起重机械有限公司 | Locking assembly and operation machine |
| CN114562509B (en) * | 2022-02-28 | 2023-01-06 | 三一汽车起重机械有限公司 | Locking assembly and operation machine |
| CN114607298A (en) * | 2022-03-15 | 2022-06-10 | 陕西海格瑞恩实业有限公司 | Oil drilling crawler |
| CN114941763A (en) * | 2022-05-30 | 2022-08-26 | 太仓阿尔法数字科技有限公司 | Anti-interference flaw detection robot for in-service pipeline |
| CN115741636A (en) * | 2022-11-09 | 2023-03-07 | 西安近代化学研究所 | Miniature self-locking robot based on pneumatic hollow shaft actuator and driving method thereof |
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