CN216383104U - Magnetic adsorption type structure and pipeline robot - Google Patents
Magnetic adsorption type structure and pipeline robot Download PDFInfo
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- CN216383104U CN216383104U CN202122956934.0U CN202122956934U CN216383104U CN 216383104 U CN216383104 U CN 216383104U CN 202122956934 U CN202122956934 U CN 202122956934U CN 216383104 U CN216383104 U CN 216383104U
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Abstract
The utility model provides a magnetic adsorption type structure and a pipeline robot, wherein the magnetic adsorption type structure comprises a driving section and a magnetic pipe frame for placing a pipeline; the driving section comprises an installation box body, a magnet unit fixedly arranged in the installation box body and a driving part fixedly arranged in the installation box body; a plurality of travelling wheels which are contacted with the inner wall of the pipeline after entering the pipeline are arranged outside the mounting box body; the driving part is connected with the traveling wheels. The utility model has the advantages that: the magnetic pipe frame arranged outside the pipeline is adopted to be matched with the magnet unit of the driving section, and the magnetic pipe frame is particularly suitable for being used in a nonmagnetic pipeline.
Description
[ technical field ] A method for producing a semiconductor device
The utility model relates to the technical field of pipeline robots, in particular to a magnetic adsorption type structure and a pipeline robot.
[ background of the utility model ]
The pipeline robot is used for internal operation of the pipeline, and can perform various tasks including but not limited to pipeline flaw detection, anticorrosive coating detection, coating identification, in-pipe foreign matter identification, in-pipe cleaning, in-pipe processing and the like. At present, a magnetic adsorption technology is applied to a pipeline robot, for example, chinese patent application No. cn201710864850.x, which is filed on 2017, 09 and 22, application No. cn201710864850.x, discloses a magnetic adsorption pipeline robot, which comprises a main body structure and a bottom control device, and further comprises two crawler-type moving mechanisms and a magnetic adsorption device arranged inside the crawler-type moving mechanisms, wherein the two crawler-type moving mechanisms are connected to two sides of the main body structure through connecting pieces, the crawler-type moving mechanisms are formed by circumferentially wrapping two side plates by a crawler, a speed reduction motor, a driving wheel, a guide wheel, a tension wheel and a bearing wheel are arranged inside the crawler-type moving mechanisms and fixed on the edges of the side plates, and a driving wheel shaft of the driving wheel is connected with a speed reducer output shaft of the speed reduction motor for providing power; the magnetic adsorption device comprises a magnetic block mounting plate fixed on the side plate and a magnetic block fixed on the magnetic block mounting plate, the magnetic block faces one side of the crawler belt, and the bearing wheels are arranged on two sides of the magnetic block mounting plate; the robot can be adsorbed inside a pipeline, and the robot can walk and climb the wall inside the pipeline.
However, the conventional magnetic adsorption type pipe robot is suitable only for use in a magnetic metal pipe, but is not suitable for use in a non-magnetic pipe such as an austenitic stainless steel pipe. In view of the above, the present inventors have made extensive studies on the above-mentioned drawbacks of the prior art, and have made this invention.
[ Utility model ] content
The utility model aims to provide a magnetic adsorption type structure and a pipeline robot, and solves the problem that the existing magnetic adsorption type pipeline robot cannot be applied to a nonmagnetic pipeline.
The utility model is realized by the following steps:
in a first aspect, a magnetic adsorption structure comprises a driving section and a magnetic pipe frame for placing a pipeline; the driving section comprises an installation box body, a magnet unit fixedly arranged in the installation box body and a driving part fixedly arranged in the installation box body; a plurality of travelling wheels which are contacted with the inner wall of the pipeline after entering the pipeline are arranged outside the mounting box body; the driving part is connected with the traveling wheels.
Preferably, the magnet unit comprises a plurality of ndfeb magnets, and each of the ndfeb magnets is arranged inside the mounting box body according to a Halbach array.
Preferably, the two sides of the front end and the two sides of the rear end of the mounting box body are respectively provided with one walking wheel, and each walking wheel is connected with one driving part.
Preferably, the mounting box body comprises a driving section bottom box and a driving section upper cover covering the top of the driving section bottom box; the magnet unit is fixed at the inner bottom of the bottom box of the driving section; the driving part is fixed in the driving section bottom box and is positioned above the magnet unit.
Preferably, the travelling wheels are spherical wheels.
Preferably, the magnetic pipe frame comprises a bottom support plate and a magnetic pipe groove fixedly arranged on the bottom support plate.
Preferably, the magnetic pipe groove is of a semi-arc structure, and the inner diameter of the magnetic pipe groove is equal to the outer diameter of the pipeline.
Preferably, the magnetic pipe groove is a mild steel pipe groove.
In a second aspect, a pipeline robot includes the above magnetic adsorption structure and at least one working joint; the working joint is connected with a driving joint of the magnetic adsorption type structure through a coupler.
Preferably, the working section comprises a cleaning section support, cleaning cotton sleeved outside the cleaning section support and cleaning section end covers fixed at two ends of the cleaning section support.
By adopting the technical scheme of the utility model, the utility model at least has the following beneficial effects:
1. the pipeline is placed on the magnetic pipe frame, the magnet unit is arranged on the driving section, so that when the whole driving section runs in the pipeline, the magnet unit and the magnetic pipe frame can attract each other under the action of a magnetic field, the pressure of a running wheel on the driving section on the inner wall of the pipeline is increased, the friction force between the running wheel on the driving section and the inner wall of the pipeline is increased, the purpose of increasing the driving force of the driving section is achieved, the situations of wheel slipping and the like cannot occur in the running process of the driving section in the pipeline, and the driving section can be guaranteed to stably and reliably run in the pipeline; meanwhile, the magnetic pipe frame arranged outside the pipeline is matched with the magnet unit of the driving section, and the magnetic pipe frame is particularly suitable for being used in nonmagnetic pipelines.
2. Arrange each neodymium iron boron magnetism iron boron in the magnet unit according to Halbach array and set up, the magnetic strength of this arrangement is about 1.4 times of one-way arrangement, can realize with magnetic force maximize to increase the suction between driving festival and the magnetism pipe support.
[ description of the drawings ]
The utility model will be further described with reference to the following examples with reference to the accompanying drawings.
FIG. 1 is a schematic view of a magnetic attachment configuration of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention in which the pipeline is placed on the magnetic pipe rack;
FIG. 3 is a schematic perspective view of the pipeline robot of the present invention;
FIG. 4 is a front view of the pipeline robot of the present invention;
FIG. 5 is a top view of the pipeline robot of the present invention;
FIG. 6 is a bottom view of the pipe robot of the present invention;
FIG. 7 is a cross-sectional view of the pipeline robot of the present invention;
FIG. 8 is a schematic view of the construction of the driving section of the present invention;
FIG. 9 is a schematic perspective view of a magnetic pipe support according to the present invention;
fig. 10 is a left side view of the magnetic pipe holder of the present invention.
Description of reference numerals:
100-a pipe;
1-driving section, 11-installation box body, 111-driving section bottom box, 111 a-opening, 112-driving section upper cover, 12-magnet unit, 121-neodymium iron boron magnet, 13-driving part and 14-travelling wheel;
2-magnetic pipe frame, 21-bottom support plate, 22-magnetic pipe groove;
3-working section, 31-cleaning section bracket, 32-cleaning cotton, 33-cleaning section end cover;
4-a coupler.
[ detailed description ] embodiments
The embodiment of the utility model provides a magnetic adsorption type structure and a pipeline robot, solves the technical problem that the magnetic adsorption type pipeline robot in the prior art cannot be suitable for nonmagnetic pipelines, and achieves the technical effect that the pipeline robot can stably work in nonmagnetic pipelines such as austenitic stainless steel pipelines.
In order to solve the above problems, the technical solution in the embodiments of the present invention has the following general idea: place nonmagnetic pipelines such as austenitic stainless steel pipeline on the magnetism pipe support, set up the magnet unit on the drive festival of pipeline robot, and the magnet unit adopts Halbach array arrangement magnet, make can increase the suction between drive festival and the magnetism pipe support, thereby increase the frictional force between drive festival upward traveling wheel and the pipe inner wall, the in-process traveling wheel of guaranteeing the walking of pipeline robot in the pipeline can not skid.
For a better understanding of the technical aspects of the present invention, reference will now be made in detail to the embodiments of the present invention, which are illustrated in the accompanying drawings.
Example 1
Referring to fig. 1 to 10, a preferred embodiment of a magnetic adsorption structure of the present invention includes a driving section 1 and a magnetic pipe rack 2 for placing a pipeline 100, wherein the pipeline 100 is placed on the magnetic pipe rack 2 when in use; the driving section 1 comprises an installation box body 11, a magnet unit 12 fixedly arranged in the installation box body 11 and a driving part 13 fixedly arranged in the installation box body 11, and the installation box body 11 can protect the magnet unit 12 and the driving part 13; a plurality of travelling wheels 14 which are contacted with the inner wall of the pipeline 100 after entering the pipeline 100 are arranged outside the mounting box body 11; the driving part 13 is connected with the traveling wheels 14, so that the traveling wheels 14 are driven to rotate by the driving part 13, and the driving section 1 is driven to advance or retreat along the inner wall of the pipeline 100 by the traveling wheels 14.
In the prior art, often need use pipeline robot to work in the pipeline, because the inner wall of pipeline 100 is all relatively more smooth, consequently in order to guarantee that pipeline robot can be stable, reliably walk in pipeline 100, need increase the frictional force between pipeline robot's wheel and the inner wall of pipeline 100, just so pipeline robot can not skid at the in-process wheel of walking. Therefore, the utility model proposes that the pipeline 100 is placed on the magnetic pipe frame 2, and the magnet unit 12 is arranged on the driving node 1, so that when the whole driving node 1 travels in the pipeline 100, the magnet unit 12 and the magnetic pipe frame 2 can attract each other under the action of the magnetic field, thereby increasing the pressure of the traveling wheel 14 on the driving node 1 on the inner wall of the pipeline 100, further increasing the friction force between the traveling wheel 14 on the driving node 1 and the inner wall of the pipeline 100, achieving the purpose of increasing the driving force of the driving node 1, so that the driving node 1 can not slide in the traveling process of the pipeline 100, and ensuring that the driving node 1 can travel stably and reliably in the pipeline 100; meanwhile, the magnetic pipe frame 2 arranged outside the pipeline 100 is adopted to be matched with the magnet unit 12 of the driving joint 1, and the magnetic pipe frame is particularly suitable for being used in nonmagnetic pipelines, for example, the pipeline 100 can be an austenitic stainless steel pipeline; of course, the technical scheme of the utility model is also suitable for being used in magnetic pipelines.
In the embodiment of the present invention, as shown in fig. 7, the arrow direction in the figure is S-pole towards N-pole, the magnet unit 12 includes a plurality of ndfeb magnets 121, and each of the ndfeb magnets 121 is arranged in Halbach array inside the installation box 11. According to Halbach array principle, arrange each neodymium iron boron magnetism 121 in the magnet unit 12 according to Halbach array and set up, the magnetic strength of this arrangement is about 1.4 times of one-way arrangement, can realize with the magnetic force maximize to increase the suction between drive section 1 and magnetism pipe support 2. Preferably, in order to provide the magnet unit 12 with better magnetic strength, the magnet unit 12 includes 7 ndfeb magnets 121.
It should be noted that, in the present invention, the neodymium iron boron magnet 121 is arranged in the Halbach array, so as to maximize the magnetic force, if this factor is not considered, the neodymium iron boron magnet 121 in the magnet unit 12 may also be arranged in other arrangements, for example, a unidirectional arrangement.
In the embodiment of the present invention, the two sides of the front end and the two sides of the rear end of the mounting box 11 are respectively provided with the traveling wheel 14, and each traveling wheel 14 is connected to one driving component 13, so that each driving component 13 can independently drive one traveling wheel 14 to rotate. Preferably, the mounting box body 11 is a square box body, the traveling wheels 14 are symmetrically arranged on two sides of the front end of the square box body, and the traveling wheels 14 are also symmetrically arranged on two sides of the rear end of the square box body, so that the whole driving section 1 can be kept balanced in the pipeline 100.
In the embodiment of the present invention, the mounting box 11 includes a driving section bottom box 111 and a driving section upper cover 112 covering the top of the driving section bottom box 111, when mounting, the driving section upper cover 112 is opened, and the magnet unit 12 and the driving part 13 are mounted inside the driving section bottom box 111, and then the driving section upper cover 112 is fixedly covered on the top of the driving section bottom box 111, for example, the driving section upper cover 112 and the driving section bottom box 111 can be fixed together by screw locking; the magnet unit 12 is fixed at the inner bottom of the drive section bottom box 111; the driving member 13 is fixed in the driving section bottom box 111, and the driving member 13 is located above the magnet unit 12.
In the specific implementation of the present invention, the vertical heights of the ndfeb magnets 121 in the magnet unit 12 are equal, so that after the ndfeb magnets 121 are fixed at the inner bottom of the driving section bottom box 111, a supporting plane can be just formed at the top of the whole magnet unit 12, thereby conveniently supporting the driving part 13.
An opening 111a is formed in the middle of the bottom of the driving section bottom box 111, so that a magnetic field can penetrate through the opening better. When specifically designing, can set up and make neodymium iron boron magnetism body 121's length equals the width of the installation cavity in the box 111 at the bottom of the drive section, and opening 111a sets up the intermediate position in the box 111 bottom at the bottom of the drive section again, so both be convenient for piercing through of magnetic field, also can guarantee that neodymium iron boron magnetism body 121 can not drop from opening 111 a.
In the embodiment of the present invention, the walking wheels 14 are spherical wheels to better contact with the inner wall of the pipeline 100; of course, the present invention is not so limited and other shapes of road wheels 14 may be used in specific implementations.
In the embodiment of the present invention, the magnetic pipe rack 2 comprises a bottom support plate 21 and a magnetic pipe groove 22 fixed on the bottom support plate 21, and in use, the pipeline 100 is placed in the magnetic pipe groove 22. The length of the magnetic pipe slot 22 may be greater than the length of the pipe 100, may also be equal to the length of the pipe 100, and may also be less than the length of the pipe 100; of course, in the case that the length of the magnetic pipe groove 22 is smaller than the length of the pipe 100, the pipe 100 can be moved back and forth according to the position of the driving section 1, so that the magnet unit 12 on the driving section 1 can cooperate with the magnetic pipe frame 2 to form magnetic attraction force.
In the embodiment of the present invention, the magnetic pipe slot 22 has a semicircular arc structure, and the inner diameter of the magnetic pipe slot 22 is equal to the outer diameter of the pipeline 100, so that after the pipeline 100 is placed in the magnetic pipe slot 22, the pipeline 100 cannot roll in the magnetic pipe slot 22, which helps the driving section 1 to smoothly run inside the pipeline 100.
In the embodiment of the present invention, the magnetic pipe groove 22 is a mild steel pipe groove. In order to realize the maximum cost performance of cost and magnetism, the magnetic pipe groove 22 is made of low-carbon steel with the carbon content lower than 0.04%; the bottom support plate 21 may also be made of low carbon steel having a carbon content of less than 0.04%.
Example 2
Referring to fig. 1 to 10, a preferred embodiment of a pipeline robot of the present invention includes a magnetic adsorption structure and at least one working section 3; the working joint 3 is connected with the driving joint 1 of the magnetic adsorption type structure through a coupler 4. The specific structure of the magnetic adsorption structure is completely the same as that described in embodiment 1, and is not described herein again. By adopting the magnetic adsorption structure to drive the working joint 3 to operate the interior of the pipeline 100, the walking wheels 14 can not slip and the like in the process that the pipeline robot moves forwards or backwards along the inner wall of the pipeline, so that the purpose of increasing the driving force of the driving joint 1 can be achieved, and the pipeline robot can stably and reliably walk in the pipeline 100; meanwhile, the device can be suitable for automatic operation of nonmagnetic pipelines such as austenitic stainless steel pipelines and the like, and can bring great convenience for actual use.
When the magnetic adsorption type magnetic driving device is specifically implemented, the two ends of the driving section 1 of the magnetic adsorption type structure can be connected with the working sections 3 so as to improve the working efficiency, and the functions of the two working sections 3 can be the same or different. Of course, if one driving node 1 is not enough, a plurality of driving nodes 1 can be arranged according to actual needs, and all the components can be connected in series according to the connection mode of the working node 3, the driving node 1, the working node 3 and the driving node 1.
As an embodiment of the present invention, the working segment 3 includes a cleaning segment holder 31, a cleaning cotton 32 sleeved outside the cleaning segment holder 31, and cleaning segment end caps 33 fixed at both ends of the cleaning segment holder 31; the two cleaning section end covers 33 can limit the two ends of the cleaning cotton 32, so that the cleaning cotton 32 is prevented from being separated from the cleaning section support 31; the cleaning cotton 32 can be sponge, the cleaning joint support 31 is of a cylindrical structure, and the cleaning cotton 32 is of an annular structure sleeved on the outer surface of the cleaning joint support 31; the cleaning cotton 32 can clean the inner wall of the pipeline 100 during the movement of the pipeline robot in the pipeline 100. Of course, the working sections 3 for realizing the cleaning function described above are only illustrative, and in the specific implementation, the working sections 3 for realizing the cleaning function may be replaced by the working sections 3 for realizing other functions according to actual needs, for example, the working sections 3 are equipped with cameras to realize shooting functions.
The working principle of the pipeline robot of the utility model is as follows, and the cleaning function is taken as an example for explanation:
placing a pipeline 100 (such as a stainless steel pipeline) to be cleaned on the magnetic pipe groove 22 of the magnetic pipe frame 2; the pipeline robot is aligned with the pipe orifice of the pipeline 100 and is put into the pipeline 100, the control driving part 13 drives the traveling wheels 14 to rotate, so that the traveling wheels 14 roll along the inner wall of the pipeline 100 to travel, and the pipeline robot is driven to move forwards or backwards in the pipeline 100; in the process of advancing or retreating the pipeline robot, the magnet units 12 on the driving section 1 and the magnetic pipe frame 2 can attract each other under the action of a magnetic field, so that the pressure of the upper traveling wheels 14 of the driving section 1 on the inner wall of the pipeline 100 is increased, the friction force between the upper traveling wheels 14 of the driving section 1 and the inner wall of the pipeline 100 is increased, and the purpose of increasing the driving force of the driving section 1 is achieved; meanwhile, the cleaning cotton 32 on the working section 3 can automatically clean the inner wall of the pipeline 100 during the moving process. When the cleaning of the pipeline 100 is completed, the pipeline robot is controlled to withdraw from the pipeline 100, and the cleaned pipeline 100 is removed from the magnetic pipe groove 22 of the magnetic pipe rack 2.
Although specific embodiments of the utility model have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the utility model, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the utility model, which is to be limited only by the appended claims.
Claims (10)
1. The utility model provides a magnetic adsorption formula structure which characterized in that: comprises a driving section and a magnetic pipe frame for placing a pipeline;
the driving section comprises an installation box body, a magnet unit fixedly arranged in the installation box body and a driving part fixedly arranged in the installation box body; a plurality of travelling wheels which are contacted with the inner wall of the pipeline after entering the pipeline are arranged outside the mounting box body; the driving part is connected with the traveling wheels.
2. A magnetic attraction structure as claimed in claim 1, in which: the magnet unit comprises a plurality of neodymium iron boron magnets, and each neodymium iron boron magnet is arranged inside the mounting box body according to a Halbach array.
3. A magnetic attraction structure as claimed in claim 1, in which: the front end both sides and the rear end both sides of installation box body all are provided with one the walking wheel, every the walking wheel all is connected one drive assembly.
4. A magnetic attraction structure as claimed in claim 1, in which: the mounting box body comprises a driving section bottom box and a driving section upper cover covering the top of the driving section bottom box; the magnet unit is fixed at the inner bottom of the bottom box of the driving section; the driving part is fixed in the driving section bottom box and is positioned above the magnet unit.
5. A magnetic attraction structure as claimed in claim 1, in which: the walking wheels are spherical wheels.
6. A magnetic attraction structure as claimed in claim 1, in which: the magnetic pipe support comprises a bottom support plate and a magnetic pipe groove fixedly arranged on the bottom support plate.
7. A magnetic attraction structure as claimed in claim 6, in which: the magnetic pipe groove is of a semi-arc structure, and the inner diameter of the magnetic pipe groove is equal to the outer diameter of the pipeline.
8. A magnetic attraction structure as claimed in claim 6, in which: the magnetic pipe groove is a mild steel pipe groove.
9. A pipeline robot, characterized in that: comprising the magnetic attachment structure of any of claims 1-8 and at least one working section; the working joint is connected with a driving joint of the magnetic adsorption type structure through a coupler.
10. The pipeline robot of claim 9, wherein: the working section comprises a cleaning section support, cleaning cotton sleeved outside the cleaning section support and cleaning section end covers fixed at two ends of the cleaning section support.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122956934.0U CN216383104U (en) | 2021-11-29 | 2021-11-29 | Magnetic adsorption type structure and pipeline robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122956934.0U CN216383104U (en) | 2021-11-29 | 2021-11-29 | Magnetic adsorption type structure and pipeline robot |
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| CN216383104U true CN216383104U (en) | 2022-04-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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2021
- 2021-11-29 CN CN202122956934.0U patent/CN216383104U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116674671A (en) * | 2023-07-28 | 2023-09-01 | 国机传感科技有限公司 | Wind power tower defect sensing and detecting device |
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