CN215674258U - Motion bearing gear train system of underground pipeline inertial gyro locator - Google Patents
Motion bearing gear train system of underground pipeline inertial gyro locator Download PDFInfo
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- CN215674258U CN215674258U CN202122078002.0U CN202122078002U CN215674258U CN 215674258 U CN215674258 U CN 215674258U CN 202122078002 U CN202122078002 U CN 202122078002U CN 215674258 U CN215674258 U CN 215674258U
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Abstract
The utility model discloses a motion bearing gear train system of an underground pipeline inertial gyro locator, which comprises: the front flange is uniformly provided with a plurality of long supporting rods, the free end of each long supporting rod is hinged with a short supporting arm, and the free end of each short supporting arm is rotatably connected with a travelling wheel which is in rolling contact with the inner wall of the underground pipeline; the rear flange is arranged in parallel with the front flange at intervals, and a plurality of anti-rotation guide rods are uniformly distributed and transversely fixed between the rear flange and the front flange; two ends of the central straight rail are respectively fixedly penetrated on the front flange and the rear flange; the sliding frame is sleeved on the central straight rail, a plurality of anti-rotation guide rods penetrate through the sliding frame, a plurality of short support rods are uniformly distributed on the sliding frame, the free ends of the short support rods are hinged with a long support arm, and the free end of the long support arm is hinged with the short support arm; and the sliding frame fine adjustment locking assembly is sleeved on the central straight rail and is connected with one side of the sliding frame. The support wheel train has small pressure on the pipe wall and small running resistance of the wheel train, and can realize real locking and fastening of the sliding frame, thereby ensuring the detection precision of the gyroscope.
Description
Technical Field
The utility model relates to the technical field of inertial gyro positioning instruments, in particular to a motion bearing gear train system of an underground pipeline inertial gyro positioning instrument.
Background
With the rapid development of modern cities, underground pipeline network systems are developed day by day, and various pipelines such as electric power, telecommunication, gas, water supply and drainage, rain and sewage and the like are densely distributed and complicated. However, for historical and technical reasons, the established underground pipelines rarely provide accurate pipeline positions and burial depths, which affects the management and maintenance of increasingly large pipe network systems. How to accurately detect the position and the buried depth of underground pipelines such as power pipelines has become an urgent problem to be solved.
The traditional pipeline detection method mostly adopts a geophysical prospecting method, or utilizes an electromagnetic field to induce the position and the burial depth of a metal pipeline (such as pipeline detection), or utilizes the physical property difference of the pipeline and a surrounding medium to carry out exploration (such as geological radar detection). Although these methods have their advantages, they are often limited by the pipe material, the buried depth, the environmental interference, the positioning accuracy, and other factors, which greatly reduce the measurement accuracy. The power pipeline is usually penetrated in a non-excavation orientation mode, the burial depth of the power pipeline is beyond the detection range of the existing instrument, and the methods are particularly suitable for heroes. The inertial gyro locator three-dimensional positioning technology is a new pipeline measurement technology appearing in recent years. The method combines the technologies of gyroscope orientation, inertial navigation, computer three-dimensional calculation and the like, drags the inertial gyroscope locator to pass through the pipeline to be tested, automatically tracks and records the motion track of the inertial gyroscope locator in the pipeline, and generates a three-dimensional coordinate and position diagram of the central axis of the pipeline. The influence of pipeline material, pipeline buried depth, surrounding environment and geology is small during measurement, and high-precision pipeline measurement can be realized as long as the inertial gyro locator can pass through the pipeline to be measured.
The Chinese patent is granted as CN208765762U and named as an inertial navigation positioning measurement all-round gear train system, wherein an isosceles triangle support arm support wheel system is adopted to cause overlarge pressure on a pipe wall and overlarge running resistance of a gear train, so that the friction of a travelling wheel is easily improved, and the service life of the travelling wheel is shortened; in addition, the fine adjustment locking mechanism of the center rod adopts a conical sleeve clamp, a nut pressing cap and a fine adjustment screw rod inner conical sleeve, wherein the bearing straight rail is an optical axis, the fine adjustment screw rod inner conical sleeve is only sleeved on the bearing straight rail, and after the nut is screwed and the nut pressing cap is pressed, the linear bearing (sliding frame) can move more or less, so that the adjustment precision of the position of the linear bearing is lower, and the condition that the movement of the gyroscope along the central axis of the pipeline affects the detection precision of the pipeline cannot be guaranteed.
Therefore, how to provide a motion bearing wheel train system of an underground pipeline inertial gyro positioning instrument, which has the advantages that the pressure of a supporting wheel train on a pipe wall is small, the friction force is small, the running resistance of the wheel train is small, the service life of the wheel train is prolonged, the real locking and fastening of a sliding frame can be realized, and the detection precision of a gyroscope is ensured, is a problem to be solved urgently by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
In view of the above, the utility model provides a motion bearing gear train system of an underground pipeline inertial gyro positioning instrument, which has the advantages that the pressure of a supporting gear train on a pipe wall is small, the friction force is small, the running resistance of the gear train is small, the service life of the gear train is prolonged, the real locking and fastening of a sliding frame can be realized, and the detection precision of a gyroscope is ensured.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a motion bearing gear train system of an underground pipeline inertial gyro positioning instrument comprises:
the device comprises a front flange, a plurality of long supporting rods are uniformly distributed on the front flange, a short supporting arm is hinged to the free end of each long supporting rod, and walking wheels in rolling contact with the inner wall of an underground pipeline are rotatably connected to the free ends of the short supporting arms;
the rear flange and the front flange are arranged in parallel at intervals, and a plurality of anti-rotation guide rods are uniformly distributed and transversely fixed between the front flange and the rear flange;
the two ends of the central straight rail are fixedly penetrated on the front flange and the rear flange respectively, and the central straight rail is positioned among the anti-rotation guide rods;
the sliding frame is sleeved and connected to the central straight rail in a sliding manner, the anti-rotation guide rods penetrate through the sliding frame, a plurality of short support rods are uniformly distributed on the sliding frame, the free ends of the short support rods are hinged with a long support arm, and the free ends of the long support arm are hinged with the short support arms;
the sliding frame fine adjustment locking assembly is sleeved on the central straight rail and located between the sliding frame and the rear flange, and one side of the sliding frame fine adjustment locking assembly is connected with one side of the sliding frame.
According to the technical scheme, compared with the prior art, the motion bearing wheel train system of the underground pipeline inertial gyro positioning instrument is provided, the wheel train has small support force on the pipe wall and small running resistance through the lever formed by the long supporting arm and the short supporting arm, the friction force of the walking wheels can be reduced, and the service life of the walking wheels is prolonged; the gear train can adapt to the pipe diameter by finely adjusting the locking component through the sliding frame, the pressure of the gear train to the pipe wall can be adjusted, and dead angles of the gear train when the gear train moves forwards and backwards do not exist; in addition, the sliding frame slides on the anti-rotation guide rod, so that the linearity of the sliding frame during movement can be ensured, and the position of the traveling wheel is not deviated.
Furthermore, a plurality of first hinge holes are formed in the position, close to the free end, of the long support rod at intervals, one end of the short support arm is hinged to one of the first hinge holes, a plurality of second hinge holes are formed in the position, close to the free end, of the short support rod at intervals, and one end of the long support arm is hinged to one of the second hinge holes.
Adopt the beneficial effect that above-mentioned technical scheme produced to be, the hinge hole of different positions can be selected according to the size of pipe diameter to short branch and long branch, improves the suitability of this train to different pipe diameters.
Further, the length of the long support arm is 2.5 times of the length of the short support arm.
Further, the frame fine setting locking subassembly that slides includes:
the fine tuning spring is sleeved on the central straight rail, and one end of the fine tuning spring is connected with one side of the sliding frame;
the first nut is in threaded connection with the central straight rail, and the other end of the fine adjustment spring is connected to one side of the first nut;
the second nut is in threaded connection with the central straight rail and is far away from the fine adjustment spring;
the spring piece is sleeved on the central straight rail and is positioned between the first nut and the second nut.
The beneficial effects who adopts above-mentioned technical scheme to produce are, the setting of fine setting spring, can carry out the shock attenuation to the walking wheel, easily pass through when meetting the barrier on the pipe wall, and the accessible slides the regulation that the frame realized walking wheel to pipe wall pressure, and after the frame position adjustment of sliding was good, screw through first nut and second nut, thereby compress tightly the fixed lock that realizes the frame that slides with middle spring leaf, in addition, because of first nut and second nut and the straight rail spiro union of center, utilize the lock efficiency of thread itself, can improve the fixity after the frame position lock that slides dies greatly, thereby can guarantee the detection precision of gyroscope.
Furthermore, a spring cylinder seat is fixed on one side of the first nut, a spring sleeving part is arranged at the end part, far away from the first nut, of the spring cylinder seat, and the other end of the fine tuning spring is sleeved on the spring sleeving part.
Adopt the beneficial effect that above-mentioned technical scheme produced to be, easily finely tune the installation of spring.
Further, a linear bearing is fixedly sleeved in the middle of the sliding frame and is connected with the central straight rail in a sliding mode.
Adopt the beneficial effect that above-mentioned technical scheme produced to be, improve the smooth and easy nature when the frame that slides.
Furthermore, one end of the central straight rail is provided with a steel wire rope dragging and pulling head.
The beneficial effects that adopt above-mentioned technical scheme to produce are that, fix the wire rope of hoist engine at wire rope and pull the drawing head, thereby rely on pulling of hoist engine to realize the walking of train for the top locater does not have actuating system, has simplified the structure of top locater.
Furthermore, the travelling wheel is a full-adaptive aluminum wheel with a replaceable rim and a rubber double-bearing wide body.
Furthermore, the periphery side of the hub of the travelling wheel is connected with a vulcanized rubber tread through a mortise and tenon structure.
The beneficial effects who adopts above-mentioned technical scheme to produce are, can effectively increase train tread area of contact, reduce the tire to the pressure of pipe wall, very big reduction the wearing and tearing of train tread, and vulcanized rubber tread and wheel hub use tenon fourth of the twelve earthly branches structrual installation, fundamentally has solved the problem of skidding of tread and wheel hub to the tread is for dismantling the change structure, in addition, the stability has been strengthened to the double bearing structure, has solved original single bearing and has caused the train swing, the measuring error that the train unstability brought.
Furthermore, the number of the walking wheels is 3, and the walking wheels are distributed by 120 degrees by taking the central straight rail as an axis.
The beneficial effect who adopts above-mentioned technical scheme to produce is for the train motion is stable, can follow the pipeline central axis motion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic side view of a motion bearing gear train system of an underground pipeline inertial gyro locator provided by the utility model.
Fig. 2 is a schematic front view structure diagram of one walking gear train of the movement bearing gear train system of the underground pipeline inertial gyro positioning instrument provided by the utility model.
Fig. 3 is an enlarged schematic view of the structure of the part a in fig. 2.
Fig. 4 is a schematic structural view of the traveling wheel.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, an embodiment of the present invention discloses a motion bearing gear train system of an underground pipeline inertial gyro locator, including:
the underground pipeline driving device comprises a front flange 1, wherein a plurality of long supporting rods 2 are uniformly distributed on the front flange 1, a short supporting arm 3 is hinged to the free end of each long supporting rod 2, and walking wheels 4 which are in rolling contact with the inner wall of an underground pipeline 100 are rotatably connected to the free ends of the short supporting arms 3;
the rear flange 5, the rear flange 5 and the front flange 1 are arranged in parallel at intervals, and a plurality of anti-rotation guide rods 6 are uniformly distributed and transversely fixed between the front flange 1 and the rear flange 5;
the two ends of the central straight rail 7 are fixedly penetrated on the front flange 1 and the rear flange 5 respectively, and the central straight rail 7 is positioned among the anti-rotation guide rods 6;
the sliding frame 8 is sleeved with the sliding frame 8 and is connected to the central straight rail 7 in a sliding mode, the anti-rotation guide rods 6 penetrate through the sliding frame 8, the sliding frame 8 is evenly provided with a plurality of short support rods 9, the free ends of the short support rods 9 are hinged with the long support arm 10, and the free end of the long support arm 10 is hinged with the short support arm 3;
the sliding frame fine-adjustment locking assembly 11 is sleeved on the central straight rail 7 and located between the sliding frame 8 and the rear flange 5, and one side of the sliding frame fine-adjustment locking assembly 11 is connected with one side of the sliding frame 8.
A plurality of first hinge holes 201 are formed in the positions, close to the free ends of the long supporting rods 2, of the long supporting rods at intervals, one end of each short supporting arm 3 is hinged to one of the first hinge holes 201, a plurality of second hinge holes 901 are formed in the positions, close to the free ends of the short supporting rods 9, of the short supporting rods at intervals, and one end of each long supporting arm 10 is hinged to one of the second hinge holes 901.
The length of the long arm 10 is 2.5 times the length of the short arm 3.
The fine-tuning locking assembly 11 of the sliding frame comprises:
the fine tuning spring 111 is sleeved on the central straight rail 7, and one end of the fine tuning spring 111 is connected with one side of the sliding frame 8;
the first nut 112 is screwed on the central straight rail 7, and the other end of the fine tuning spring 111 is connected to one side of the first nut 112;
the second nut 113 is screwed on the central straight rail 7, and is far away from the fine tuning spring 111;
and the spring piece 114 is sleeved on the central straight rail 7 and is positioned between the first nut 112 and the second nut 113.
A spring cylinder seat 1121 is fixed on one side of the first nut 112, a spring socket 11211 is arranged on the end of the spring cylinder seat 1121 far away from the first nut 112, and the other end of the fine tuning spring 111 is sleeved on the spring socket 11211.
The middle part of the sliding frame 8 is sleeved with a linear bearing 12, and the linear bearing 12 is connected with the central straight rail 7 in a sliding way.
One end of the central straight rail 7 is provided with a steel wire rope dragging and pulling head 71.
The road wheel 4 is a full-adaptive aluminum wheel with a replaceable rim and a rubber double-bearing wide body.
The periphery of the hub 41 of the travelling wheel 4 is connected with a vulcanized rubber tread 42 through a mortise and tenon structure 13.
The number of the walking wheels 4 is 3, and the walking wheels are distributed in 120 degrees by taking the central straight rail 7 as an axis.
The wheel system is provided with a lever consisting of the long support arm and the short support arm, so that the wheel system has small support force on the pipe wall and small running resistance, the friction force of the walking wheel can be reduced, and the service life of the walking wheel is prolonged; and can realize the train to the pipe diameter self-adaptation through the frame fine setting locking subassembly that slides, and the train is adjustable to pipe wall pressure, does not have the dead angle problem of train when advancing to retreat to the setting of fine setting spring can guarantee that the train can not skid and lose the commentaries on classics, thereby has ensured inertial gyro locater's measurement accuracy nature. In addition, the traveling wheel is a full-adaptive aluminum wheel with a replaceable wheel rim and rubber duplex bearing width body, the contact area of the tire surface of the wheel train can be effectively increased, the pressure of the tire surface to the pipe wall is reduced, the abrasion of the tire surface of the wheel train is greatly reduced, the vulcanized rubber tire surface and the wheel hub are installed by using a tenon-and-mortise structure, the slipping problem of the tire surface and the wheel hub is fundamentally solved, the tire surface is of a detachable replacement structure, in addition, the stability is enhanced by the aid of the duplex bearing structure, and the problem that the wheel train swings due to an original single bearing and the measurement error caused by instability of the wheel train is solved.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides a motion of pipeline inertial gyro locater bears gear train system which characterized in that includes:
the pipeline joint comprises a front flange (1), wherein a plurality of long supporting rods (2) are uniformly distributed on the front flange (1), a short supporting arm (3) is hinged to the free end of each long supporting rod (2), and walking wheels (4) in rolling contact with the inner wall of an underground pipeline (100) are rotatably connected to the free ends of the short supporting arms (3);
the rear flange (5) and the front flange (1) are arranged in parallel at intervals, and a plurality of anti-rotation guide rods (6) are uniformly distributed and transversely fixed between the front flange (1) and the rear flange (5);
the two ends of the central straight rail (7) are fixedly penetrated on the front flange (1) and the rear flange (5) respectively, and the central straight rail (7) is positioned among the anti-rotation guide rods (6);
the sliding frame (8) is sleeved and connected to the central straight rail (7) in a sliding mode, the anti-rotation guide rods (6) penetrate through the sliding frame (8), the sliding frame (8) is evenly provided with a plurality of short support rods (9), the free ends of the short support rods (9) are hinged to a long support arm (10), and the free ends of the long support arms (10) are hinged to the short support arms (3);
sliding frame fine adjustment locking assembly (11), sliding frame fine adjustment locking assembly (11) is sleeved on center straight rail (7) and is located sliding frame (8) and between rear flanges (5), sliding frame fine adjustment locking assembly (11) one side is connected with sliding frame (8) one side.
2. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, wherein the long support rod (2) is provided with a plurality of first hinge holes (201) at intervals near the free end thereof, one end of the short support arm (3) is hinged with one of the first hinge holes (201), the short support rod (9) is provided with a plurality of second hinge holes (901) at intervals near the free end thereof, and one end of the long support arm (10) is hinged with one of the second hinge holes (901).
3. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, characterized in that the length of the long arm (10) is 2.5 times the length of the short arm (3).
4. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, wherein the sliding rack fine-adjustment locking assembly (11) comprises:
the fine tuning spring (111) is sleeved on the central straight rail (7), and one end of the fine tuning spring (111) is connected with one side of the sliding frame (8);
the first nut (112) is screwed on the central straight rail (7), and the other end of the fine tuning spring (111) is connected to one side of the first nut (112);
the second nut (113) is screwed on the central straight rail (7) and is far away from the fine adjustment spring (111);
the spring piece (114) is sleeved on the central straight rail (7) and is positioned between the first nut (112) and the second nut (113).
5. The movement bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 4, wherein a spring cylinder seat (1121) is fixed to one side of the first nut (112), a spring sleeve joint part (11211) is arranged at an end part, away from the first nut (112), of the spring cylinder seat (1121), and the other end of the fine tuning spring (111) is sleeved on the spring sleeve joint part (11211).
6. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, wherein a linear bearing (12) is fixed in the middle of the sliding frame (8), and the linear bearing (12) is connected with the central straight rail (7) in a sliding manner.
7. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, wherein one end of the central straight rail (7) is provided with a steel wire rope dragging and pulling head (71).
8. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, wherein the road wheels (4) are replaceable rim rubber double-bearing wide-body fully-adaptive aluminum wheels.
9. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 8, wherein the outer periphery side of the hub (41) of the walking wheel (4) is connected with a vulcanized rubber tread (42) through a mortise and tenon joint structure (13).
10. The motion bearing gear train system of the underground pipeline inertial gyro positioning instrument according to claim 1, wherein the number of the walking wheels (4) is 3, and the walking wheels are distributed at 120 degrees by taking the central straight rail (7) as an axis.
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| CN202122078002.0U CN215674258U (en) | 2021-08-31 | 2021-08-31 | Motion bearing gear train system of underground pipeline inertial gyro locator |
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| CN202122078002.0U CN215674258U (en) | 2021-08-31 | 2021-08-31 | Motion bearing gear train system of underground pipeline inertial gyro locator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117189995A (en) * | 2023-08-28 | 2023-12-08 | 唐山市中宇科技发展有限公司 | Limiting damping system for pipe orifice of inertial measurement robot |
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2021
- 2021-08-31 CN CN202122078002.0U patent/CN215674258U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117189995A (en) * | 2023-08-28 | 2023-12-08 | 唐山市中宇科技发展有限公司 | Limiting damping system for pipe orifice of inertial measurement robot |
| CN117189995B (en) * | 2023-08-28 | 2024-03-05 | 唐山市中宇科技发展有限公司 | Limiting damping system for pipe orifice of inertial measurement robot |
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