CN101915338B - Centrifugal force drive based drawing device for equipment in pipeline - Google Patents
Centrifugal force drive based drawing device for equipment in pipeline Download PDFInfo
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- CN101915338B CN101915338B CN2010102483291A CN201010248329A CN101915338B CN 101915338 B CN101915338 B CN 101915338B CN 2010102483291 A CN2010102483291 A CN 2010102483291A CN 201010248329 A CN201010248329 A CN 201010248329A CN 101915338 B CN101915338 B CN 101915338B
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- rocking bar
- fixed
- screw mandrel
- connecting rod
- pipeline
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Abstract
The invention relates to a centrifugal force drive based drawing device for equipment in a pipeline, which comprises a bracket, a centrifugal force generating mechanism and a motion locking mechanism, wherein the bracket is sleeved in a pipeline; the centrifugal force generating mechanism comprises a drive motor and more than one set of eccentric block rotating assembly; the motion locking mechanism comprises an adjusting motor and more than four groups of connecting rod assemblies which are fixed on a stand along the circumferential direction of the pipeline; both ends of each screw rod in the connecting rod assemblies are respectively sleeved on a fixed rocker seat and a screw rod fixed seat; a floating rocker seat is sleeved on the screw rod by thread fit; one end of a fixed rocker is articulated on the fixed rocker seat, and the other end of the fixed rocker is connected with one end of a floating rocker by a connecting rod; the other end of the floating rocker is articulated on the floating rocker seat; a wedge block is fixed on the connecting rod; when the screw rods in all the connecting rod assemblies rotate towards the same direction, the motion directions of the floating rocker seats in the adjacent connecting rod assemblies are opposite. The invention has the advantages of simple and compact structure, low cost, stable and reliable work, wide application range, and the like.
Description
Technical field
The present invention is mainly concerned with the design field of traction gear, refers in particular to a kind of device that equipment moves in the pipeline of certain diameter scope in the various pipes that is used to draw.
Background technique
Along with development economic and society, adopt special instrument to various underground preburied pipelines detect, keep in repair, work such as measurement more and more seems important.At present; The method of the interior various device of driving pipeline that the home and abroad is commonly used; Be through in pipeline, connecting rope in advance; Spur through pullling rope that device moves at pipe interior in the pipe, perhaps come to move at pipe interior, accomplish and detect in the various pipes and task such as measurement through device in the frictional force drives pipe through various wheeled, leg formula small scale robots.When adopting rope directly to pull to install in the pipe, if pipeline is long or bend is too much, then the frictional force between rope and inner-walls of duct will increase to unacceptable degree; And when adopting in wheeled, the leg formula small scale robot traction tube equipment; Because internal diameter of the pipeline restriction; Make that the frictional traction of wheel or mechanical leg and inner-walls of duct is very limited,, cause traction gear more easily equipment traction failure in managing when remaining when impurity such as water, mud is arranged in the pipeline.
Summary of the invention
The technical problem that the present invention will solve just is: to the technical problem that existing technology exists, the present invention provide a kind of simple and compact for structure, with low cost, working stability is reliable, applied widely based on drawing device for equipment in centrifugal power-actuated pipe.
For solving the problems of the technologies described above, the present invention adopts following technological scheme:
A kind of based on drawing device for equipment in centrifugal power-actuated pipe; It is characterized in that: comprise that the centrifugal force that is sheathed on the support in the pipeline and is fixed on the support produces mechanism and motion lockable mechanism; Said centrifugal force produces mechanism and comprises drive motor and the above eccentric mass Runner assembly of a cover that links to each other with the drive motor output terminal through driving mechanism; Said motion lockable mechanism comprises to be regulated motor and is fixed in the link assembly more than four groups on the support along the circumferencial direction of pipeline; Said link assembly comprises screw mandrel fixed base, screw mandrel, the rocking bar core that floats, the rocking bar that floats, connecting rod, more than one voussoir, fixedly rocking bar and fixing rocking bar core; The two ends of said screw mandrel are sheathed on respectively fixedly on the rocking bar core and screw mandrel fixed base, and said unsteady rocking bar core is sheathed on the screw mandrel through screw-thread fit, and an end of said fixedly rocking bar is articulated in fixedly on the rocking bar core; The other end of said fixedly rocking bar links to each other with an end of unsteady rocking bar through connecting rod; The other end of said unsteady rocking bar is articulated on the rocking bar core that floats, and said voussoir is fixed on the connecting rod, and the screw mandrel in said all link assemblies is during all towards a direction rotation; The moving direction of rocking bar core of floating in the adjacent link assembly is opposite, and the output terminal of said adjusting motor links to each other with screw mandrel in all link assemblies through second driving mechanism.
As further improvement of the present invention:
Said eccentric mass Runner assembly comprises the eccentric mass rotating shaft and is fixed in the eccentric mass in the eccentric mass rotating shaft; Said driving mechanism is to be provided with in pairs and intermeshing drive bevel gear and driven wheel of differential; Said driven wheel of differential is fixed in an end of eccentric mass rotating shaft, and said drive bevel gear is fixed in the output terminal of drive motor.
Said second driving mechanism comprises the active adjustment gear that links to each other with the adjusting motor output end and is installed on the driven adjusting gear on each screw mandrel.
Compared with prior art, the invention has the advantages that:
1. the present invention is for being directed against various pre-buried pipe interior narrow spaces; A kind of drawing device for equipment that drives based on the high frequency centrifugal inertia force that is designed; Prevent that through the motion Locking Device drawing device for equipment from falling back; The tractive force direction transformation is realized in the spatial position of adjustment motion Locking Device, and adapts to the pipeline of different-diameter, finally in pipe, produces enough tractive force.The present invention is through regulating and controlling motor simply, i.e. the action effect that the centrifugal traction of may command is left is realized advancing and falling back drawing-in motion of traction gear;
2. the present invention is when carrying out forward drive, and whole device need not to contact with tube wall and obtains tractive force, can not produce destruction to tube wall, the influence of impurity in therefore not managed;
3. motion Locking Device of the present invention can be adjusted easily, adapts to different internal diameter of the pipeline;
4. the present invention is through the motion Locking Device based on voussoir friction, can prevent fully that in theory traction gear from retreating, and has high reliability, thereby improves the traction drive movement effects effectively.The above-mentioned advantage of this traction gear makes safety in its working procedure, reliable, has very strong portability, practicability and adaptability.
Description of drawings
Fig. 1 is a structural representation of the present invention.
Marginal data:
1, support; 21, driven wheel of differential; 22, eccentric mass; 23, drive bevel gear; 24, eccentric mass rotating shaft; 25, drive motor; 3, link assembly; 31, screw mandrel fixed base; 32, screw mandrel; 33, unsteady rocking bar core; 34, unsteady rocking bar; 35, connecting rod; 36, voussoir; 37, fixing rocking bar; 38, fixing rocking bar core; 4, regulate motor; 5, second driving mechanism; 51, driven adjusting gear; 52, active adjustment gear.
Embodiment
Below will combine Figure of description and specific embodiment that the present invention is explained further details.
As shown in Figure 1; Of the present invention based on drawing device for equipment in centrifugal power-actuated pipe; Comprise that the centrifugal force that is sheathed on the support 1 in the pipeline and is fixed on the support 1 produces mechanism and motion lockable mechanism; Centrifugal force produces mechanism and comprises drive motor 25 and the above eccentric mass Runner assembly of a cover that links to each other with drive motor 25 output terminals through driving mechanism; The eccentric mass Runner assembly comprises eccentric mass rotating shaft 24 and is fixed in the eccentric mass 22 in the eccentric mass rotating shaft 24; Driving mechanism is to be provided with in pairs and intermeshing drive bevel gear 23 and driven wheel of differential 21, and driven wheel of differential 21 is fixed in an end of eccentric mass rotating shaft 24, and drive bevel gear 23 is fixed in the output terminal of drive motor 25.In the present embodiment, drive motor 25 and eccentric mass rotating shaft 24 are installed in the inside of support 1, guaranteeing drive bevel gear 23 and driven wheel of differential 21 correct engagement, and guarantee the axis of drive motor 25 and the dead in line of support 1.Comprise the two cover eccentric mass Runner assemblies that are symmetric arrangement in the present embodiment, be convenient to realize the dynamic balancing of radial direction.Thus, constitute support 1 inner centrifugal force and produce mechanism, centrifugal force produces mechanism and drives when rotating down at drive motor 25 through eccentric mass 22, and direction changes according to certain rules with producing, the big or small centrifugal force that is directly proportional with rotating speed is as tractive force.Promptly when drive motor 25 rotates, drive eccentric mass 22 and rotate, produce the centrifugal force that rotates around eccentric mass rotating shaft 24 thus around eccentric mass rotating shaft 24.During eccentric mass 22 high-speed rotation; To produce one and rotate around it the periodically variable centrifugal force of axis; When the direction of centrifugal force and direction of advance angle during less than 90 °; Centrifugal force promptly can be used as forward drive power, and when the direction of centrifugal force and direction of advance angle during greater than 90 °, centrifugal force can be used as retreats driving force.
The motion lockable mechanism comprises and regulates motor 4 and equidistantly, evenly be fixed in the link assembly 3 more than four groups on the support 1 along the circumferencial direction of pipeline among the present invention; Link assembly 3 comprises screw mandrel fixed base 31, screw mandrel 32, the rocking bar core 33 that floats, the rocking bar 34 that floats, connecting rod 35, more than one voussoir 36, fixedly rocking bar 37 and fixing rocking bar core 38; The two ends of screw mandrel 32 are sheathed on respectively fixedly on rocking bar core 38 and the screw mandrel fixed base 31; The rocking bar core 33 that floats is sheathed on the screw mandrel 32 through screw-thread fit, and fixedly an end of rocking bar 37 is articulated in fixedly on the rocking bar core 38, and fixedly the other end of rocking bar 37 passes through connecting rod 35 and links to each other with an end of unsteady rocking bar 34; The other end of unsteady rocking bar 34 is articulated on the rocking bar core 33 that floats; Voussoir 36 is fixed on the connecting rod 35, and the quantity of voussoir 36 can strengthen the wedging effect more for a long time.Because all unsteady rocking bar core 33 positions on screw mandrel 32 are identical, being in the wedging direction of voussoir 36 in two link assemblies 3 at symmetrical position place along the circumferencial direction of pipeline so will be opposite.When the screw mandrel 32 in all link assemblies 3 all when direction is rotated; The moving direction of unsteady rocking bar core 33 is opposite in adjacent two link assemblies 3; The voussoir 36 that can guarantee one of them link assembly 3 contacts with inner-walls of duct and produces the wedging effect, another voussoir 36 then not can with the inner-walls of duct contact matching.The output terminal of regulating motor 4 links to each other with screw mandrel 32 in all link assemblies 3 through second driving mechanism 5.Through regulating the gap of different voussoirs 36 and inner-walls of duct, reach different wedge action effects, thereby constraint centrifugal force is to traction gear moving direction.In the present embodiment; In order to reach above-mentioned effect; Directly the installation direction of adjacent two link assemblies 3 is set to just can realize on the contrary; Be the left end that fixedly rocking bar core 38 in one of them link assembly 3 is installed on support 1, simultaneously the screw mandrel fixed base 31 in the adjacent link assembly 3 be installed on the left end of support 1.
In the present embodiment, second driving mechanism 5 comprises the active adjustment gear 52 that links to each other with adjusting motor 4 output terminals and is installed on the driven adjusting gear 51 on each screw mandrel 32.In the present embodiment; All driven adjusting gears 51 all are positioned at the same side of support 1; Regulate the inside that motor 4 is installed on support 1; And guarantee active adjustment gear 52 to be installed on the output shaft of regulating motor 4 the two dead in line, guarantee active adjustment gear 52 and all driven adjusting gear 51 correct engagement.When regulating motor 4 rotations, will drive all driven adjusting gears 51 through active adjustment gear 52 and rotate in the same way.Regulating motor 4 drives screw mandrel 32 and rotates through active adjustment gear 52, driven adjusting gear 51; Driving the unsteady rocking bar core 33 that cooperates with screw mandrel 32 moves; Thereby the distance between connecting rod 35 and support 1 axis is regulated in the distortion of drivening rod assembly, reaches the purpose that adapts to different internal diameter of the pipeline.
Working principle: referring to Fig. 1, establish all screw mandrels 32 and be dextrorotation, the axis of establishing support 1 is postive direction from left to right.When regulating motor 4 and drive all screw mandrel 32 forward rotation, be in along the circumferencial direction of pipeline that unsteady rocking bar core 33 forwards move in two link assemblies 3 at symmetrical position place, and another unsteady rocking bar core 33 moves oppositely; Connecting rod 35 will be withdrawn and near support 1 thus, and another connecting rod 35 is stretched out and away from support 1, the voussoir 36 on one of them connecting rod 35 will be away from the inwall of pipeline thus, and the voussoir 36 on another connecting rod 35 is near inner-walls of duct.When drive motor 25 drive eccentric masss 22 motions and the centrifugal force that produces with support 1 axis forward angle during less than 90 °, voussoir 36 is inoperative, centrifugal force drive traction gear advances to the right; When centrifugal force and support 1 axis forward angle during greater than 90 °, 36 wedge actions of voussoir prevent that traction gear from moving to the left.In like manner, when regulating motor 4 and drive all screw mandrel 32 backward rotation, the above-mentioned voussoir 36 that plays wedge action is just in time opposite, and this moment, the centrifugal traction gear that will make that then produces moved to the left if drive motor 25 drives eccentric masss 22 to rotate.
Below only be preferred implementation of the present invention, protection scope of the present invention also not only is confined to the foregoing description, and all technological schemes that belongs under the thinking of the present invention all belong to protection scope of the present invention.Should be pointed out that for those skilled in the art some improvement and retouching not breaking away under the principle of the invention prerequisite should be regarded as protection scope of the present invention.
Claims (3)
1. one kind based on drawing device for equipment in centrifugal power-actuated pipe; It is characterized in that: comprise that the centrifugal force that is sheathed on the support (1) in the pipeline and is fixed on the support (1) produces mechanism and motion lockable mechanism; Said centrifugal force produces mechanism and comprises drive motor (25) and the above eccentric mass Runner assembly of a cover that links to each other with drive motor (25) output terminal through driving mechanism; Said motion lockable mechanism comprises to be regulated motor (4) and is fixed in the link assembly more than four groups (3) on the support (1) along the circumferencial direction of pipeline; Said link assembly (3) comprises screw mandrel fixed base (31), screw mandrel (32), the rocking bar core (33) that floats, the rocking bar (34) that floats, connecting rod (35), more than one voussoir (36), fixedly rocking bar (37) and fixing rocking bar core (38); The two ends of said screw mandrel (32) are sheathed on respectively fixedly on the rocking bar core (38) and screw mandrel fixed base (31); Said unsteady rocking bar core (33) is sheathed on the screw mandrel (32) through screw-thread fit; One end of said fixedly rocking bar (37) is articulated in fixedly on the rocking bar core (38); The other end of said fixedly rocking bar (37) links to each other with an end of unsteady rocking bar (34) through connecting rod (35); The other end of said unsteady rocking bar (34) is articulated on the unsteady rocking bar core (33), and said voussoir (36) is fixed on the connecting rod (35), and the screw mandrel (32) in said all link assemblies (3) is all when direction is rotated; The moving direction of rocking bar core (33) of floating in the adjacent link assembly (3) is opposite, and the output terminal of said adjusting motor (4) links to each other with screw mandrel (32) in all link assemblies (3) through second driving mechanism (5).
2. according to claim 1 based on drawing device for equipment in centrifugal power-actuated pipe; It is characterized in that: said eccentric mass Runner assembly comprises eccentric mass rotating shaft (24) and is fixed in the eccentric mass (22) in the eccentric mass rotating shaft (24); Said driving mechanism is to be provided with in pairs and intermeshing drive bevel gear (23) and driven wheel of differential (21); Said driven wheel of differential (21) is fixed in an end of eccentric mass rotating shaft (24), and said drive bevel gear (23) is fixed in the output terminal of drive motor (25).
3. according to claim 1 and 2 based on drawing device for equipment in centrifugal power-actuated pipe, it is characterized in that: said second driving mechanism (5) comprises the active adjustment gear (52) that links to each other with adjusting motor (4) output terminal and is installed on the driven adjusting gear (51) on each screw mandrel (32).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102483291A CN101915338B (en) | 2010-08-09 | 2010-08-09 | Centrifugal force drive based drawing device for equipment in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102483291A CN101915338B (en) | 2010-08-09 | 2010-08-09 | Centrifugal force drive based drawing device for equipment in pipeline |
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| Publication Number | Publication Date |
|---|---|
| CN101915338A CN101915338A (en) | 2010-12-15 |
| CN101915338B true CN101915338B (en) | 2012-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010102483291A Expired - Fee Related CN101915338B (en) | 2010-08-09 | 2010-08-09 | Centrifugal force drive based drawing device for equipment in pipeline |
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| CN (1) | CN101915338B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105697928B (en) * | 2016-04-14 | 2018-01-30 | 上海江南长兴重工有限责任公司 | Pipe walking robot |
| CN106931276A (en) * | 2017-05-11 | 2017-07-07 | 福建（泉州）哈工大工程技术研究院 | Adjustable wheel type mobile domain |
| CN109990165B (en) * | 2017-12-29 | 2020-11-20 | 中国核动力研究设计院 | Pipeline robot support arm synchronous driving device with self-adaptive function |
| CN110715139B (en) * | 2019-11-04 | 2021-01-22 | 浙江希卡姆复合材料股份有限公司 | Underground drain pipe crack detection device |
| CN112791862A (en) * | 2021-01-25 | 2021-05-14 | 伯特利(山东)工业设备有限公司 | Online dynamic balance device for centrifugal machine |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CH490900A (en) * | 1967-06-28 | 1970-05-31 | Arx Paul Von | Device with the help of which the inner wall of a pipe can be cleaned and / or given a protective coating |
| JP3149110B2 (en) * | 1990-09-28 | 2001-03-26 | 株式会社東芝 | Traveling mechanism and traveling device provided with the traveling mechanism |
| CN101691992A (en) * | 2009-10-16 | 2010-04-07 | 中国人民解放军国防科学技术大学 | Self-adaptive device for measuring length of pipeline |
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2010
- 2010-08-09 CN CN2010102483291A patent/CN101915338B/en not_active Expired - Fee Related
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| CN101915338A (en) | 2010-12-15 |
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