CN219796811U - Electromagnetic adsorption type outer pipeline crawling robot - Google Patents
Electromagnetic adsorption type outer pipeline crawling robot Download PDFInfo
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- CN219796811U CN219796811U CN202321183611.5U CN202321183611U CN219796811U CN 219796811 U CN219796811 U CN 219796811U CN 202321183611 U CN202321183611 U CN 202321183611U CN 219796811 U CN219796811 U CN 219796811U
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- adjusting
- pipe body
- crawling
- pipeline
- crawling robot
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- 230000009193 crawling Effects 0.000 title claims abstract description 40
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 25
- 238000013016 damping Methods 0.000 claims abstract description 4
- 238000010030 laminating Methods 0.000 claims description 16
- 238000009434 installation Methods 0.000 claims description 7
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 24
- 238000001514 detection method Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003209 petroleum derivative Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
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Abstract
The utility model discloses an electromagnetic adsorption type outer pipeline crawling robot, which comprises a detected pipe body, wherein the pipe body is provided with a pipeline crawling robot structure for detecting the pipe body, the pipeline crawling robot structure comprises an adsorption crawling assembly which is installed and arranged on a control adjusting assembly, the adsorption crawling assembly comprises connecting plates with connecting grooves on two sides, the connecting grooves penetrate through holes which are convenient for the movable arrangement of connecting pins, the through holes are also movably arranged with an adjusting rod through the connecting grooves and the connecting pins, one end of the adjusting rod is provided with a bonding plate which is wrapped on the outer wall of the pipe body, the inner side of the bonding plate is provided with a rubber gasket for increasing the contact friction damping between the bonding plate and the outer wall of the pipe body, and the adjusting rod is provided with a first movable connecting piece which is movably connected with a first adjusting cylinder.
Description
Technical Field
The utility model relates to the technical field of pipelines, in particular to an electromagnetic adsorption type outer pipeline crawling robot.
Background
Important energy sources such as petroleum and natural gas serve as a foundation stone for social and economic development, the requirements of the important energy sources are increasing year by year, so that the safety maintenance of large pipelines serving as transportation fluid media is also receiving more and more importance, aiming at the regular detection and maintenance of large transportation pipelines such as oil gas, various types of pipeline detection robots are developed to become one of the current research hot spots, the existing outer pipeline detection robots usually adopt enclasping, namely the outer pipeline detection robots only are suitable for pipelines or cables with smaller diameters or larger inclination angles through a plurality of groups of arms encircling the pipelines, the structure of the outer pipeline detection robots is complex, and the outer pipeline detection robots have more actions and large energy loss when the robots move forward and turn.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art, and provides an electromagnetic adsorption type outer pipeline crawling robot, so that the problems that the existing outer pipeline detection robot proposed to pass through in the prior art usually adopts a hugging type, namely, a plurality of groups of arms encircle a pipeline, the electromagnetic adsorption type outer pipeline crawling robot is only suitable for pipelines or cables with smaller diameters or larger inclination angles, the structure is complex, and the robot acts more and has large energy loss when advancing and turning.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the electromagnetic adsorption type outer pipeline crawling robot comprises a detected pipe body, wherein the pipe body is provided with a pipeline crawling robot structure for detecting the pipe body;
the pipeline crawling robot structure comprises an adsorption crawling assembly which is arranged on the control adjusting assembly, the adsorption crawling assembly comprises connecting plates with connecting grooves formed in two sides, the connecting grooves penetrate through holes which are formed in the mode that connecting pins are convenient to movably set, and meanwhile the through holes are also formed in the mode that the connecting grooves and the connecting pins are movably set with the adjusting rods.
Through adopting above-mentioned technical scheme, thereby through the connecting plate that sets up play and set up the effect.
Preferably, one end of the adjusting rod is provided with a bonding plate wrapping the outer wall of the pipe body, and the inner side of the bonding plate is provided with a rubber gasket for increasing the contact friction damping between the bonding plate and the outer wall of the pipe body.
Through adopting above-mentioned technical scheme, thereby increase frictional resistance effect through the rubber gasket that sets up.
Preferably, the adjusting rod is provided with a first movable connecting piece movably connected with the first adjusting cylinder, and the first movable connecting piece is respectively arranged with the adjusting rod and the control adjusting component part.
Through adopting above-mentioned technical scheme, thereby play both ends through the regulation pole that sets up and connect the setting effect.
Preferably, the connecting plate bottom is equipped with the gyro wheel of drive regulation through the installation pole activity, and the gyro wheel is equipped with the second swing joint spare that makes things convenient for the second to adjust the cylinder activity to set up through the connecting plate rear side equally, and the connecting plate bottom is equipped with the first arc electro-magnet of drive regulation through the third adjusting cylinder equally simultaneously.
Through adopting above-mentioned technical scheme, thereby play auxiliary drive regulation effect through the gyro wheel that sets up.
Preferably, the control adjusting assembly comprises a connection operation control module with a mounting groove, the connection operation control module is arranged on the connecting plate and is arranged at one end of the first movable connecting piece, and the connection operation control module is internally provided with a swinging motor for controlling and adjusting through the mounting groove.
Through adopting above-mentioned technical scheme, thereby play control rotation swing effect through the swing motor that sets up.
Preferably, the swing motor output is equipped with the T platform of rotation regulation, and is equipped with the second swing joint spare that makes things convenient for the activity of fourth governing cylinder to set up in the T bench place ahead equally, and fourth governing cylinder output is equipped with the second arc electro-magnet of drive regulation equally simultaneously through the L pole.
Through adopting above-mentioned technical scheme, thereby through the L pole that sets up play installation atress drive regulation effect.
Compared with the prior art, the utility model has the beneficial effects that: the electromagnetic adsorption type outer pipeline crawling robot,
(1) This case is through setting up in the pipeline crawling robot structure: the control adjusting component is used for solving the problems that the existing outer pipeline detection robot usually adopts enclasping, namely, a plurality of groups of arms encircle a pipeline, the robot is only suitable for pipelines or cables with smaller diameters or larger inclination angles, the structure is complex, when the robot advances and turns, the robot acts more, the energy loss is large, when the pipe body needs to be detected, an operator is connected with the connecting operation control module through a connecting wire, the fourth adjusting cylinder is controlled to work after the connecting operation control module is connected, the second arc electromagnet is driven to move under stress in the working process of the fourth adjusting cylinder, when the second arc electromagnet is adsorbed to the outer wall of the pipe body, the fourth adjusting cylinder is controlled to carry out return stroke movement, the fourth adjusting cylinder drives the integral adsorption crawling component to synchronously move under stress, when the pipe body needs to turn, the operator controls the swinging motor to work, the fourth adjusting cylinder is driven to synchronously move under stress in the working process of the swinging motor, when the fourth adjusting cylinder is in adsorption connection with the pipe body, the integral adsorption crawling component is driven to turn, and the situation is avoided by the arranged control adjusting component;
(2) Through setting up in the pipeline crawling robot structure: when the pipe body needs to be detected, an operator places the whole adsorption crawling assembly on the surface of the pipe body, the first adjusting cylinder is controlled to work, the bonding plate is in stressed contact with the surface of the pipe body in the working process of the first adjusting cylinder, the third adjusting cylinder is controlled to work, the first arc electromagnet and the surface of the pipe body are adsorbed and arranged in the working process of the third adjusting cylinder, the whole adsorption crawling assembly is stably adsorbed on the surface of the pipe body, and the arranged adsorption crawling assembly is utilized to avoid the situation.
Drawings
FIG. 1 is a schematic diagram of a front cross-sectional structure of the present utility model;
FIG. 2 is a schematic structural view of the pipeline crawling robot;
FIG. 3 is a schematic structural view of a connecting plate, a connecting groove, an adjusting rod, a bonding plate, a rubber gasket, a first adjusting cylinder, a roller, a mounting rod, a second adjusting cylinder, a third adjusting cylinder and a first arc electromagnet;
FIG. 4 is an enlarged schematic view of the structure of FIG. 3A according to the present utility model;
FIG. 5 is a schematic view of the structure of the connecting plate, the connecting groove and the second movable connecting piece according to the present utility model;
FIG. 6 is a schematic diagram of a control and regulation assembly according to the present utility model.
In the figure: 1. the pipe body, 2, pipeline crawling robot structure, 201, adsorb the component of crawling, 2011, the connecting plate, 2012, the spread groove, 2013, adjust pole, 2014, the laminating board, 2015, rubber gasket, 2016, first swing joint spare, 2017, first adjusting cylinder, 2018, the gyro wheel, 2019, the installation pole, 20110, the second adjusting cylinder, 20111, the second swing joint spare, 20112, the third adjusting cylinder, 20113, first arc electro-magnet, 202, control and adjust the component, 2021, connect operation control module, 2022, swing motor, 2023, T platform, 2024, fourth adjusting cylinder, 2025, L pole, 2026, second arc electro-magnet.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-6, the present utility model provides a technical solution: the utility model provides an electromagnetism absorption formula outer tube robot of crawling, as shown in fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, including the body 1 as being detected, be equipped with the pipeline robot structure 2 of crawling of body 1 detection on the body 1, pipeline robot structure 2 of crawling includes the absorption subassembly 201 of crawling of control adjustment subassembly 202 installation setting, and adsorb the connecting plate 2011 that crawl the subassembly 201 and set up the spread groove 2012 including both sides, and the through-hole that makes things convenient for the spread pin activity to set up has been run through to the spread groove 2012, the through-hole is the same through spread groove 2012 and spread pin and regulation pole 2013 activity setting simultaneously, wherein, spread groove 2012 and regulation pole 2013 all adopt logarithmic mode setting, utilize logarithmic mode to install the effectual messenger laminating board 2014 of setting up the two to the outer wall of body 1 and encircle the laminating effect.
The scheme is further that adjusting pole 2013 one end is equipped with laminating board 2014 that the outer wall parcel of body 1 set up, and laminating board 2014 inboard is equipped with increases laminating board 2014 and the outer wall contact friction damping's of body 1 rubber gasket 2015, wherein, the laminating board 2014 adopts the arc structure setting, utilize the laminating board 2014 of arc setting so not only to play bi-directional connection setting and still play laminating atress contact effect to the outer wall of body 1, rubber gasket 2015 adopts thickness interval to set up for the rubber gasket 2015 of 0.5mm simultaneously, so not only reduce the thickness of whole rubber gasket 2015 and still avoid the thickness too thick laminating contact effect that influences laminating board 2014 and the outer wall of body 1.
The above scheme is further in turn, be equipped with on adjusting the pole 2013 with first swing joint spare 2016 that first regulation cylinder 2017 swing joint set up, and first swing joint spare 2016 respectively with adjust pole 2013 and control adjustment subassembly 202 spare part installation setting, wherein, adjust pole 2013, first regulation cylinder 2017 and first swing joint spare 2016 and constitute the activity and adjust the structure, thereby utilize to constitute the activity and adjust the structure and play the drive to laminating board 2014 and adjust the effect thereby adapt to different diameter body 1 outer wall laminating contact effect.
The above scheme is still further again, the gyro wheel 2018 that the activity of connecting plate 2011 bottom was equipped with the drive and adjusts through installation pole 2019, and gyro wheel 2018 is equipped with the second swing joint spare 20111 that makes things convenient for the activity of second adjusting cylinder 20110 to set up through connecting plate 2011 rear side equally, simultaneously connecting plate 2011 bottom is equipped with the first arc electro-magnet 20113 that drives the regulation through third adjusting cylinder 20112 equally, wherein, connecting plate 2011, second swing joint spare 20111 and second adjusting cylinder 20110 constitute swing joint structure, thereby constitute swing joint structure through above-mentioned three and thereby set up similar with railway carriage connection structure among the prior art, not only play atress drive adjustment effect to connecting plate 2011 at both ends but also play atress turn adjustment effect to connecting plate 2011 at both ends.
In the above scheme, when the pipe body 1 needs to be detected, the manual holding connection plate 2011 is operated to be placed on the surface of the pipe body 1 through the roller 2018 and the mounting rod 2019, then the first adjusting cylinder 2017 and the third adjusting cylinder 20112 are controlled to work synchronously through the control adjusting component 202, the first arc electromagnet 20113 is driven to contact with the surface of the pipe body 1 in the working process of the third adjusting cylinder 20112, the bonding plate 2014 and the rubber gasket 2015 are driven to contact with the surface of the pipe body 1 through the first movable connecting piece 2016 and the adjusting rod 2013 in the working process of the first adjusting cylinder 2017, and when the bonding plate 2014 contacts with the surface of the pipe body 1, the operator controls the first arc electromagnet 20113 to work to adsorb, and at the moment, the whole device is stably adsorbed on the surface of the pipe body 1.
As shown in fig. 6, the control adjustment assembly 202 includes a connection operation control module 2021 with a mounting groove, and the connection operation control module 2021 is disposed on the connection board 2011 and mounted on one end of the first movable connection member 2016, and meanwhile, the connection operation control module 2021 is provided with a swing motor 2022 for controlling adjustment through the inside of the mounting groove, where the connection operation control module 2021 is disposed in a structure of the prior art, and the connection operation control module 2021 disposed in the structure of the prior art is utilized to control the operation effect with the operation device and the operation controller.
The above scheme is further that the output end of the swing motor 2022 is provided with a T table 2023 which is adjusted by rotation, a second movable connecting piece 20111 which is convenient for the fourth adjusting cylinder 2024 to be movably arranged is also arranged right in front of the T table 2023, and meanwhile, the output end of the fourth adjusting cylinder 2024 is also provided with a second arc electromagnet 2026 which is adjusted by driving through an L rod 2025, wherein the swing motor 2022, the T table 2023, the adjusting cylinder 2024, the L rod 2025 and the second arc electromagnet 2026 form a swing adjusting structure, and the swing adjusting structure formed by the parts is utilized to effectively drive the whole equipment to drive forward and swing turning operation effects.
In the above scheme, when the whole equipment needs to be driven forward, the operator controls the fourth adjusting cylinder 2024 to work at this moment, the second arc electromagnet 2026 is driven to synchronously move by the L rod 2025 in the working process of the fourth adjusting cylinder 2024, when the second arc electromagnet 2026 is adsorbed to the surface of the pipe body 1, the first arc electromagnet 20113 stops working at this moment, meanwhile, the fourth adjusting cylinder 2024 carries out return stroke motion to drive the whole equipment to move forward, when the whole equipment needs to turn, the operator controls the swinging motor 2022 to work at this moment, the swinging motor 2022 drives the fourth adjusting cylinder 2024, the L rod 2025 and the second arc electromagnet 2026 to synchronously move by the T table 2023 in the working process of the swinging motor 2022, when the swinging motor 2022 is adjusted to a corresponding swinging angle, the operator controls the second arc electromagnet 2026 to synchronously adsorb to the surface of the turning part of the pipe body 1 at this moment, and the connecting plate 2011 drives the rear side equipment to synchronously turn through the first movable connecting piece 2016 and the second adjusting cylinder 20110.
The terms "center," "longitudinal," "transverse," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used for descriptive simplicity and convenience only and not as an indication or implying that the apparatus or element being referred to must have a particular orientation, be constructed and operated for a particular orientation, based on the orientation or positional relationship illustrated in the drawings, and thus should not be construed as limiting the scope of the present utility model.
Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.
Claims (6)
1. The utility model provides an electromagnetism adsorbs outer pipeline robot of crawling, is including being detected body (1), its characterized in that: the pipeline crawling robot structure (2) for detecting the pipeline body (1) is arranged on the pipeline body (1);
the pipeline crawling robot structure (2) comprises an adsorption crawling assembly (201) which is arranged on the control adjusting assembly (202), the adsorption crawling assembly (201) comprises connecting plates (2011) with connecting grooves (2012) formed in two sides, through holes which are formed in a penetrating mode and are convenient for movable arrangement of connecting pins, and meanwhile the through holes are also arranged in a movable mode through the connecting grooves (2012) and the connecting pins and the adjusting rods (2013).
2. The electromagnetic adsorption type outer pipeline crawling robot according to claim 1, wherein: one end of the adjusting rod (2013) is provided with a laminating plate (2014) wrapping the outer wall of the pipe body (1), and the inner side of the laminating plate (2014) is provided with a rubber gasket (2015) for increasing friction damping between the laminating plate (2014) and the outer wall of the pipe body (1).
3. The electromagnetic adsorption type outer pipeline crawling robot according to claim 1, wherein: the adjusting rod (2013) is provided with a first movable connecting piece (2016) movably connected with the first adjusting cylinder (2017), and the first movable connecting piece (2016) is respectively arranged with the adjusting rod (2013) and the control adjusting component (202) in a part installation mode.
4. The electromagnetic adsorption type outer pipeline crawling robot according to claim 1, wherein: the bottom of the connecting plate (2011) is movably provided with a roller (2018) for driving and adjusting through a mounting rod (2019), the roller (2018) is also provided with a second movable connecting piece (20111) which is convenient for a second adjusting cylinder (20110) to movably arranged through the rear side of the connecting plate (2011), and meanwhile, the bottom of the connecting plate (2011) is also provided with a first arc electromagnet (20113) for driving and adjusting through a third adjusting cylinder (20112).
5. The electromagnetic adsorption type outer pipeline crawling robot according to claim 1, wherein: the control adjusting assembly (202) comprises a connection operation control module (2021) with a mounting groove, the connection operation control module (2021) is arranged on the connecting plate (2011) and is installed at one end of the first movable connecting piece (2016), and meanwhile the connection operation control module (2021) is internally provided with a swing motor (2022) for controlling and adjusting through the mounting groove.
6. The electromagnetic adsorption type outer pipeline crawling robot according to claim 5, wherein: the output end of the swing motor (2022) is provided with a T table (2023) capable of being adjusted in a rotating mode, a second movable connecting piece (20111) which is convenient for a fourth adjusting cylinder (2024) to be movably arranged is arranged right in front of the T table (2023), and meanwhile the output end of the fourth adjusting cylinder (2024) is also provided with a second arc electromagnet (2026) capable of being adjusted in a driving mode through an L rod (2025).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321183611.5U CN219796811U (en) | 2023-05-17 | 2023-05-17 | Electromagnetic adsorption type outer pipeline crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321183611.5U CN219796811U (en) | 2023-05-17 | 2023-05-17 | Electromagnetic adsorption type outer pipeline crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219796811U true CN219796811U (en) | 2023-10-03 |
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ID=88156863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321183611.5U Active CN219796811U (en) | 2023-05-17 | 2023-05-17 | Electromagnetic adsorption type outer pipeline crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219796811U (en) |
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2023
- 2023-05-17 CN CN202321183611.5U patent/CN219796811U/en active Active
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