WO2011103792A1

WO2011103792A1 - Device used for creeping on inner wall of pipeline

Info

Publication number: WO2011103792A1
Application number: PCT/CN2011/071098
Authority: WO
Inventors: 罗勇
Original assignee: Luo Yong
Priority date: 2010-02-24
Filing date: 2011-02-18
Publication date: 2011-09-01
Also published as: CN201615316U

Abstract

A device used for creeping on the inner wall of a pipeline is disclosed. The device comprises two independent creeping mechanisms and an intermediate connecting mechanism which connects these two creeping mechanisms to form an integral part along the axial direction. The independent creeping mechanisms can stretch out and retract radially. The intermediate connecting mechanism drives these two creeping mechanisms to stretch out and retract axially. Creeping blocks (1) are evenly distributed on the outer circumference of the central shaft (4) of the creeping mechanisms circumferentially. One end of a fixed support rod (21) is movably connected with the central shaft (4) of the creeping mechanisms through a base (13) of the fixed support rod, and the other end of the fixed support rod (21) is movably supported on the creeping blocks (1). The device is suitable for detecting and cleaning the inside of a pipeline in various situations.

Description

Pipe inner wall crawling device

Technical field

The utility model relates to a pipe inner wall crawling device, in particular to a pipe inner wall crawling device suitable for load-bearing two-way crawling in a steep slope or a vertical pipe.

Background technique

At present, some existing inner wall crawling mechanical devices are difficult to climb up the load on the steep slope, and it is even more difficult to bear the weight in the vertical pipe. Some pipe inner wall crawling mechanism can crawl upwards, but when crawling, the pipe is seriously blocked, which causes the crawling mechanism in the pipe to stop the gas or liquid when it is performing crawling detection or cleaning work. The crawling detection or cleaning work is carried out when the pipeline normally carries gas or liquid, which brings a lot of inconvenience to the detection, cleaning and normal transportation work inside the pipeline. Utility model content

The technical problem to be solved by the utility model is to provide a pipe inner wall crawling device capable of two-way crawling on the inner wall of the pipe.

The technical solution to solve the above technical problem is: a pipe inner wall crawling device, comprising two independent crawling mechanisms and an intermediate connecting mechanism connecting the two crawling mechanisms in one axial direction as a whole; the independent crawling mechanism can be radially expanded and contracted; The intermediate connection mechanism can extend and contract two independent crawlers in the axial direction.

Further, the independent crawling mechanism is composed of at least three crawling blocks uniformly distributed circumferentially on the outer circumference of the central axis of the crawling mechanism; the plurality of crawling blocks passing through at least one set of fixed tilting support assemblies and at least one set of movable tilting support assemblies Supported on the central axis of the crawling mechanism, the fixed tilting support assembly is opposite to the tilting direction of the movable tilting support assembly; the end of the movable tilting support assembly coupled to the central axis of the crawling mechanism is axially slidable to radially expand and contract the crawling block.

Further, the fixed tilt support assembly is composed of a fixed support rod and a fixed support rod base; one end of the fixed support rod is connected to the central axis of the crawling mechanism through the fixed support rod base, and is rotatable around the fixed support rod base. The other end is movably supported on the crawling block; the fixed tilting support assembly is arranged adjacent to each other in the axial direction, the fixed support bar of the two sets of fixed tilting support assemblies and the connected crawling block and the connected crawling mechanism The central axis has a parallelogram structure; the movable tilting support assembly is composed of a movable support rod and a movable support rod base; one end of the movable support rod is connected to the central axis of the crawling mechanism through the movable support rod base, and can be wound around The movable support rod base rotates, and the other end is movably supported on the crawling block, and the movable support rod base is axially movable on the central axis of the crawling mechanism; the movable tilt support assemblies are arranged in a group in the axial direction. Further, the crawling block is composed of a rubber block and a rubber block mounting base, and the rubber block is fixed on the rubber block mounting base.

Further, the center axis of the crawling mechanism is composed of a central shaft on which the fixed support rod base is mounted, a central shaft on which the movable support rod base is mounted, and a crawling linear motor that connects the two central shafts as a whole; one end of the crawling linear motor is installed. a threaded rod, the other end is axially fixed on the central shaft of the crawling mechanism and mounted on one end of the fixed support rod base; the end of the central shaft of the movable support rod base located in the crawling mechanism is a hollow shaft, A nut matching the screw rod is disposed in the hollow shaft hole; the screw rod is axially screwed into the nut.

Further, the intermediate connection mechanism is an intermediate linear motor; an intermediate screw is mounted at one end of the intermediate linear motor, and the other end is axially fixed to a central axis of the movable support rod base outside the crawling mechanism The central shaft of the other side of the crawling mechanism for mounting the movable support rod base is a hollow shaft, and an intermediate nut matching the intermediate screw rod is disposed in the shaft hole of the hollow shaft; the intermediate screw is screwed to the intermediate nut Inside.

Further, a flange is disposed on the central shaft end of one end of each of the independent crawling mechanisms, and a screw is sleeved on the central shaft between the flange and the movable support rod base. a spring, one end of the spiral compression spring (11) is contiguous with the flange, and the other end is abutted against the movable support rod base.

Further, a travel switch is mounted on a central shaft outside the base of the movable support bar.

Further, a control circuit board is mounted on a central axis of one of the crawling mechanisms, and the control lines of the linear motors and the travel switches are connected to the control circuit board.

Further, a power source is mounted on the control circuit board.

The utility model has the beneficial effects that: by two crawling mechanisms which can be contracted in the radial direction, when the inner wall of the pipeline is to be crawled, the crawling block of a crawling mechanism is first extended radially and pressure is applied to the pipeline. On the inner wall, the crawling block of the other crawling mechanism contracts radially inwardly away from the inner wall of the pipe, and then passes through a crawling mechanism that can disengage the inner wall of the pipe in the direction in which the crawling mechanism is axially stretched. Extending or retracting a certain distance, and then extending or retracting the crawling block of the crawling mechanism radially outwardly and applying pressure to the inner wall of the pipe, and then crawling the crawler that originally grasped the inner wall of the pipe The block is contracted radially inwardly away from the inner wall of the pipe, and then the intermediate mechanism is contracted or extended in the direction to be traveled. Pulling the crawling mechanism forward can realize the crawling inside the pipe, and the crawling mechanism enlarges the crawling block to the inner wall of the pipe by using the principle of the triangular lever The applied pressure, and then the parallelogram principle is used to make the crawling device coaxial with the axis of the pipe, so that it can be realized smoothly Slope and bidirectional crawling inside vertical duct and the bi-directional load creep. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a schematic view showing the structure of a pipe inner wall crawling device of the present invention.

The figure is marked as: crawling block 1, fixed tilt support assembly 2, fixed support rod 21, movable tilt support assembly 3, activity Support rod 31, crawling mechanism central shaft 4, crawling linear motor 5, screw rod 6, intermediate linear motor 7, intermediate screw 8, control circuit board 9, control line 10, helical compression spring 11, travel switch 12, fixed support rod The base 13, the movable support base 14, the power supply 15, the rubber block 16, and the rubber block mounting base 17. detailed description

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in FIG. 1 , the utility model provides a pipe inner wall crawling device suitable for load-bearing two-way crawling on a steep slope or a vertical pipe inner wall, which comprises two independent crawling mechanisms and two crawling mechanisms in the axial direction. The intermediate connecting mechanism is connected as a whole; the independent crawling mechanism can be telescoped in the radial direction; and the intermediate connecting mechanism can extend and contract the two independent crawlers in the axial direction. The working process is as follows. Through two crawling mechanisms that can be radially contracted, when the inner wall of the pipe is to be crawled, a crawling mechanism is first extended radially outward and pressure is applied to the inner wall of the pipe, and another crawling mechanism is used. Shrinking radially inwardly, away from the inner wall of the pipe, and then extending or retracting a certain distance by a crawling mechanism that can disengage the inner wall of the pipe in a direction to be advanced by an intermediate connecting mechanism that can axially expand and contract the crawling mechanism, and Extending the crawling mechanism radially outwardly and applying pressure to the inner wall of the pipe, and then the crawler that previously gripped the inner wall of the pipe is radially inwardly retracted away from the inner wall of the pipe, and then the intermediate connecting mechanism contracts again in the direction to be traveled. Or extending, pulling or pushing the crawling mechanism forward can realize the crawling work of the crawling device on the inner wall of the pipe. Since the crawling mechanism projects radially outward and exerts pressure on the inner wall of the pipe, the steep slope can be smoothly realized. Two-way crawling in a vertical pipe and two-way crawling in a load.

The structure for stretching the crawling mechanism in the radial direction has various forms, for example, a plurality of pieces of metal rods having a length slightly larger than the radius of the pipe are connected to the same central shaft to support the crawling block having the same number of metal rods, and then An adjusting rod is arranged at an appropriate position of each metal rod to form an unfolding structure such as an umbrella. The adjustment function of the crawling mechanism in the radial direction can be realized by pulling the adjusting rod, but this structural form has many disadvantages, such as The structure is unstable, the production process is quite troublesome, and the like. The structure for stretching the crawling mechanism in the radial direction is: the independent crawling mechanism is composed of at least three crawling blocks 1 uniformly distributed on the outer circumference of the central axis 4 of the crawling mechanism in the circumferential direction; the plurality of crawling blocks 1 pass At least one set of fixed tilt support assemblies 2 and at least one set of movable tilt support assemblies 3 are supported on the crawler mechanism central axis 4, the fixed tilt support assembly 2 is opposite to the tilting direction of the movable tilt support assembly 3; the movable tilt support assembly 3 and the crawling mechanism One end of the connection of the center shaft 4 is slidable in the axial direction, thereby causing the crawler block 1 to expand and contract in the radial direction. The structure in which the crawling block 1 of the crawling mechanism can be radially expanded and contracted is much more stable than the unfolded structure of the umbrella, and the manufacturing process is relatively simple; however, if the fixed tilting support assembly is described 2 and the movable tilting support assembly 3 are respectively only one set, and the structure is still unstable. When pressure is applied to the inner wall of the pipeline, the creeping block 1 is in unstable contact with the inner wall of the pipeline, and is easy to slip. This is particularly the case when the load is crawled, and the operation of moving the end of the movable tilting support assembly 3 connected to the central axis 4 of the crawling mechanism in the axial direction is extremely inconvenient, in order to make the crawling mechanism radially expand and contract. The structure is more stable and the operation is more convenient, so that the crawling block 1 does not slip during the crawling process. The fixed inclined support assembly 2 is composed of the fixed support rod 21 and the fixed support rod base 13; one end of the fixed support rod 21 is fixedly supported The rod base 13 is coupled to the central axis 4 of the crawling mechanism and rotatable about the fixed support base 13 and the other end is movably supported on the crawling block 1; the fixed inclined support assemblies 2 are arranged adjacent to each other in the axial direction. Two sets of fixed support bars 21 of the two sets of fixed tilt support assemblies 2 and a connected crawler block 1 and a central quadrilateral structure connected thereto; the movable tilt support assembly 3 is composed of movable support bars 31 and The movable support rod base 14 is composed; one end of the movable support rod 31 is connected to the crawling mechanism central shaft 4 through the movable support rod base 14 and can surround the movable support rod base 14 is rotated, and the other end movably supported on the crawler block 1; active base support rod 14 axially movable on the central axis crawling mechanism 4; the activity tilt support assembly 3 with a set of axially arranged. With the structure described above, the principle of the parallel four-sided row is fully utilized to stabilize the crawling block 1, and the pressure applied by the crawling block 1 to the inner wall of the pipe is enlarged by the principle of the triangular lever, thereby ensuring that the crawling block 1 is good with the inner wall of the pipe throughout the crawling process. Contact, no slipping during crawling, making the structure quite stable, and easily carrying weight-bearing crawling in steep slopes and vertical pipes. Further, the crawling block 1 may be a metal material or a wooden material, but in order to maximize the friction during attachment and reduce the occurrence of slippage, the utility model adopts a rubber block 16 and is convenient for installation. The movable block 1 is movably connected to the fixed support rod 21 and the movable support rod 31, and a rubber block mounting base 17 is further provided. The rubber block 16 is mounted in the rubber block mounting base 17, the rubber block mounting base 17 and the fixed support rod. 21 is movably connected with the movable support rod 31, thereby ensuring that the axially outer surface of the crawling block 1 during the axial expansion and contraction of the movable inclined support assembly 3 is always in good contact with the inner wall of the pipe, thereby improving the load-bearing capacity or the vertical crawling ability.

The above structure for retracting the crawling mechanism in the radial direction is manually adjusted during adjustment, which is very inconvenient to use. In order to reduce labor intensity, the center axis 4 of the crawling mechanism is mounted by the central shaft of the fixed support rod base 13 and installed. The central axis of the movable support rod base 14 and the crawling linear motor 5 that connects the two central shafts as a whole are constituted; the crawling linear motor 5 is provided with a screw rod 6 at one end thereof, and the other end is axially fixed in the crawling mechanism, Mounted on the central shaft of the fixed support rod base 13-end; the end of the central shaft of the movable support rod base 14 located in the crawling mechanism is a hollow shaft, and the screw shaft 6 is disposed in the hollow shaft hole The mating nut, the lead screw 6 is screwed into the nut in the axial direction. After adopting the structure, when it is required to apply pressure to the inner wall of the pipe, the distance between the movable inclined support assembly 3 and the fixed inclined support assembly 2 can be adjusted only by starting the crawling linear motor 5, and the crawling block needs to be made. 1 When the inner wall of the pipe is disengaged, the distance between the movable inclined support assembly 3 and the fixed inclined support assembly 2 can be adjusted only by starting the crawling linear motor 5, and no manual operation is required, thereby facilitating automation and reducing the labor of the operator. strength. The screw rod 6 may be a screw rod 6 which is provided by the crawling linear motor 5, or may be a self-made screw rod 6 after being taken back. As long as the screw rod 6 is connected to the output end of the crawling linear motor 5, the adjustable tilting support can be realized. The distance between the assembly 3 and the fixed inclined support assembly 2 is sufficient.

It can be seen from the above embodiments that in order to realize the crawling action of the crawling device in the pipeline, there must be an intermediate connecting mechanism for expanding and contracting the two crawling mechanisms in the axial direction. In order to make the structure of the whole crawling device more compact and easy to realize automation, the utility model The intermediate connecting mechanism of the new type is an intermediate linear motor 7; an intermediate screw 8 is mounted at one end of the intermediate linear motor 7, and the other end is axially fixed to the outside of a crawling mechanism, and the movable support rod base 14 is mounted. The central axis of the other crawling mechanism, the central axis of the movable support rod base 14 is a hollow shaft, and an intermediate nut matching the intermediate screw rod 8 is disposed in the hollow shaft shaft hole; the intermediate screw rod 8 is screwed on Inside the intermediate nut. With the structure, the length of the entire device can be shortened as much as possible, and the structure is more compact. When stretching and crawling, it is only necessary to activate the intermediate linear motor 7 so that the intermediate screw 8 can be engaged with the corresponding intermediate nut. The use of the intermediate linear motor 7 also facilitates automation and reduces the labor intensity of the operator. Similarly, the intermediate screw 8 may be an intermediate screw 8 that is provided by the intermediate linear motor 7, or may be an intermediate screw 8 that is self-made after being taken back, as long as the intermediate screw 8 is connected to the output end of the intermediate linear motor 7. It is possible to match the intermediate screw 8 with the corresponding intermediate nut.

When the crawling linear motor 5 is started to cause the creeping block 1 to protrude radially outward to exert pressure on the inner wall of the pipe, since the entire mechanism cannot be observed in the pipe, the motor will continue to work after the crawling block 1 is pressed against the inner wall of the pipe. Therefore, it is possible to damage the device, in order to avoid the situation that the crawling linear motor 5 continues to work after the crawling block 1 has been pressed against the inner wall of the pipe, thereby causing damage to the device, or at least reducing the damage frequency and damage of the device, each of the independent a flange is disposed on a shaft end of the center shaft of the crawling mechanism, and a spiral compression spring (11) is sleeved on a central shaft between the flange and the movable support rod base (14). One end of the helical compression spring (11) is contiguous with the flange and the other end is abutted against the movable support rod base (14). Thus, when the crawling block 1 is pressed against the inner wall of the pipe, the crawling linear motor 5 continues to work, pulling the hollow central shaft to move, thereby stretching the helical compression spring 11, thereby buffering the possibility that the movable supporting member is directly damaged by force. After the pressure applied by the crawling block 1 to the inner wall of the pipe reaches a certain value, the crawling linear motor 5 can automatically cut off the power supply to stop working, and the stroke switch 12 is mounted on the central shaft outside the movable support rod base 14, when the crawling block 1 is pressed After tightening the inner wall of the pipe, the crawling linear motor 5 continues to work, pulling the hollow central shaft to move, thereby stretching the helical compression spring 11, moving the movable support bar base 14 outward, reaching the position where the travel switch 12 is mounted, and then continuing to move the impact. The travel switch 12, cut off the power supply, stops the motor and further protects the equipment from any damage.

The inner wall crawling device of the utility model is provided with a plurality of linear motors, namely a crawling motor 5, an intermediate linear motor 7, and an electrical switch device such as a travel switch 12, and the control of the electrical device can be manually controlled externally. However, there are many power cords required, and the environmental conditions of the whole crawling device are relatively bad, and it is easy to damage the power cord to cause a safety accident. Therefore, the center shaft 4 of one of the crawling mechanisms of the present invention is installed. The control circuit board 9, the control line 10 of each of the linear motor and the stroke switch 12 is connected to the control circuit board 9. With the control structure described above, automation can be conveniently implemented, and the possibility of a safety accident caused by damage to the cable wire is also reduced.

The inner wall crawling device of the utility model can be applied to detect and clean the pipelines in various occasions. The power source used may be an external general lighting power source or an industrial power source, but the vicinity of the pipeline to be cleaned or detected does not guarantee the power source in each place, in order to make the inner wall of the pipe of the present invention crawl. The device can be adapted to various occasions, and the power supply circuit 15 is mounted on the control circuit board 9, and the power supply for the crawling linear motor 5 and the intermediate linear motor 7 is provided, and the complete external cable function can be realized, and the use is further ensured. Safety.

Claims

Claim

1. A pipe inner wall crawling device, comprising: two independent crawling mechanisms and an intermediate connecting mechanism that axially connects the two crawling mechanisms into one unit; the independent crawling mechanism can be radially extended and contracted; The connecting mechanism allows the two independent crawlers to expand and contract axially.

2. The pipe inner wall crawling device according to claim 1, wherein: said independent crawling mechanism is constituted by at least three crawling blocks (1) uniformly distributed on the outer circumference of the center axis (4) of the crawling mechanism in the circumferential direction; a plurality of crawling blocks (1) supported on the central axis (4) of the crawling mechanism by at least one set of fixed tilting support assemblies (2) and at least one set of movable tilting support assemblies (3), fixed tilting support assemblies (2) and active tilting The supporting members (3) are inclined in opposite directions; one end of the movable tilting support assembly (3) connected to the center axis (4) of the crawling mechanism is axially slidable, so that the crawling block (1) is radially expanded and contracted.

3. The pipe inner wall crawling device according to claim 2, wherein: the fixed inclined support assembly (2) is composed of a fixed support rod (21) and a fixed support rod base (13); the fixed support rod (21) is fixed One end is connected to the central axis (4) of the crawling mechanism through a fixed support base (13), and is rotatable about the fixed support base (13), and the other end is movably supported on the crawling block (1); The fixed inclined support assembly (2) is arranged adjacent to each other in the axial direction, the fixed support rods (21) of the two sets of fixed tilt support assemblies (2) and the connected crawling blocks (1) and the connected crawling mechanism The central axis (4) has a parallelogram structure; the movable tilt support assembly (3) is composed of a movable support rod (31) and a movable support rod base (14); one end of the movable support rod (31) is supported by the movable support The rod base (14) is coupled to the central axis (4) of the crawling mechanism and rotatable about the movable support base (14), and the other end is movably supported on the crawling block (1), and the movable supporting base Seat (14) is available at Line means to move axially along the central axis (4); tilt the movable support assembly (3) is a set of axially arranged.

4. The pipe inner wall crawling device according to claim 2, wherein: the crawling block (1) is composed of a rubber block (16) and a rubber block mounting base (17), and the rubber block (16) is fixed. Install the base (17) on the rubber block.

The pipe inner wall crawling device according to any one of claims 2 to 4, characterized in that: the center axis (4) of the crawling mechanism is mounted by the central shaft of the fixed support bar base (13), and the movable support bar base is installed. The central axis of the seat (14) is composed of a crawling linear motor (5) that connects the two central shafts as a whole; the crawling linear motor (5) is provided with a screw (6) at one end and the other end is fixed in the axial direction. a central shaft mounted on the fixed support rod base (13) at the end; the end of the central shaft of the movable support rod base (14) located in the crawling mechanism is a hollow shaft, A nut matching the screw rod (6) is disposed in the hollow shaft hole; the screw rod (6) is axially screwed into the nut.

6. The pipe inner wall crawling device according to claim 5, wherein: the intermediate connection mechanism is an intermediate linear motor (7); and an intermediate screw (8) is mounted at one end of the intermediate linear motor (7). The other end is axially fixed on the center shaft of the movable support rod base (14) outside the crawling mechanism; the center shaft of the other movable crawler mechanism (14) outside the crawling mechanism is a hollow shaft An intermediate nut matching the intermediate screw (8) is disposed in the hollow shaft hole; the intermediate screw (8) is screwed into the intermediate nut.

7. The pipe inner wall crawling device according to claim 6, wherein: the inner shaft end of each of the independent crawling mechanisms provided with a nut end is further provided with a flange, the flange and the movable support A central axis between the rod bases (14) is sleeved with a helical compression spring (11), one end of the helical compression spring (11) is contiguous with the flange, and the other end is connected to the movable support rod base ( 14) Top connection.

8. Pipe inner wall crawling device according to claim 7, characterized in that a travel switch (12) is mounted on the central axis outside the movable support bar base (14).

9. The pipe inner wall crawling device according to claim 8, wherein: a control circuit board (9) is mounted on a central axis (4) of one of the crawling mechanisms, and each of the linear motor and the travel switch (12) The control line (10) is connected to the control board (9).

10. Pipe inner wall crawling device according to claim 9, characterized in that a power source (15) is mounted on the control circuit board (9).