CN104763857B - A kind of cross structure formula reservoir culvert perils detecting pipe robot - Google Patents
A kind of cross structure formula reservoir culvert perils detecting pipe robot Download PDFInfo
- Publication number
- CN104763857B CN104763857B CN201510129914.2A CN201510129914A CN104763857B CN 104763857 B CN104763857 B CN 104763857B CN 201510129914 A CN201510129914 A CN 201510129914A CN 104763857 B CN104763857 B CN 104763857B
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- Prior art keywords
- robot
- driving
- pipe robot
- cross structure
- structure formula
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- 210000003141 lower extremity Anatomy 0.000 claims abstract description 7
- 239000007787 solid Substances 0.000 claims description 2
- 230000004888 barrier function Effects 0.000 abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of cross structure formula reservoir culvert perils detecting pipe robot, including clamping plate and four driving legs, driving leg is connected to the point midway on clamping plate limit by pin, and by the circumferential position of eight spring fixed drive lower limbs, the mutual angle of driving leg initial position is 90 degree, and two adjacent springs connect pretension by a drag-line.Invention has the advantages that: the present invention realizes real-time deformation by spring mechanism cleverly, can pass through inside complicated pipeline environment maneuverability；The pipe robot of this research is under the effect of driving force and spring force, and robot can firmly be attached on tube wall by note；Owing to pipeline environment is complicated, most of water pipes are the moistest, the design of robot be allow robot the most in the duct between move, water and barrier can be avoided to greatest extent, can cross the culvert pipe dislocation obstacle caused due to dam nonuniform settlement, this is the obstacle climbing ability that common pipe robot does not possesses.
Description
Technical field
The present invention relates to a kind of pipe robot, especially a kind of cross structure formula reservoir culvert perils detecting pipe robot.
Background technology
The pipe robot of existing main flow has vehicle formula pipe robot, crawler belt type pipeline robot and walking type pipeline robot.
Vehicle formula pipe robot is typical such as application number: 201010240870.8,201310118019.1, the robot of this class formation
Design is simple, but bad adaptability, it is difficult to more piping dislocation obstacle, and the pipe robot of similar structures can not be at vertical tube
Creep in road.Crawler belt type pipeline robot typical case has the patent No.: 200910061704.9, this kind of pipe robot, and ground is adhered to
Force rate general vehicle formula pipe robot is big, adapts to ability good, but in pipeline, curved meeting excessively is highly difficult, has the danger of overturning.
The typical structure of the walking type pipeline robot such as patent No.: 201310069842.8, walking type pipeline robot adaptability relatively before
Two kinds of adaptabilities to be got well, but structure is complicated, poor reliability, the highest to operating environment requirements.Also do not has a kind of pipeline machine at present
People is simple and reliable for structure, can solve again pipeline dislocation obstacle.
Summary of the invention
The shortcoming that the invention solves the problems that above-mentioned prior art, it is provided that a kind of simple and reliable for structure, can solve again pipeline dislocation obstacle
Cross structure formula reservoir culvert perils detecting pipe robot.
The present invention solve its technical problem use technical scheme: this cross structure formula reservoir culvert perils detecting pipe robot,
Including clamping plate and four driving legs, driving leg is connected to the point midway on clamping plate limit by pin, and solid by eight springs
Determining the circumferential position of driving leg, the mutual angle of driving leg initial position is 90 degree, and two adjacent springs are by a drag-line even
Connect pretension.
As preferably, described driving leg includes a motor, and motor is connected with drive bevel gear by output shaft, drive bevel gear
Engaging with driven wheel of differential, driven wheel of differential is connected with driving wheel by wheel shaft.
As preferably, described driving leg includes the driving leg glissile segment of driving leg canned paragraph and the fixing motor being connected with pin, drives
Connected by steady pin between lower limb canned paragraph and driving leg glissile segment.
As preferably, described drag-line and a tripper are connected.
Invention has the advantages that: the present invention realizes real-time deformation by spring mechanism cleverly, can be in complicated pipeline environment
Pass through face maneuverability；The pipe robot of this research is under the effect of driving force and spring force, and robot can firm note
It is attached on tube wall；Owing to pipeline environment is complicated, most of water pipes are the moistest, and the design of robot is to allow robot all the time at pipeline
Intermediary movements, can avoid water and barrier to greatest extent, can cross the culvert pipe dislocation barrier caused due to dam nonuniform settlement
Hindering, this is the obstacle climbing ability that common pipe robot does not possesses.
Accompanying drawing explanation
Fig. 1 is cross structure formula reservoir culvert perils detecting pipe robot structure diagram；
Fig. 2 is cross structure formula reservoir culvert perils detecting pipe robot outside drawing；
Fig. 3 is cross structure formula reservoir culvert perils detecting pipe robot attitude figure of creeping at culvert pipe dislocation；
Fig. 4 is that T-shaped pipeline is creeped attitude figure；
Fig. 5 is that L-type pipeline is creeped attitude figure；
Description of reference numerals: 1, motor；2-1, driving leg glissile segment；2-2, driving leg canned paragraph；3, output shaft；4, initiative taper
Gear；5, driven wheel of differential；6, wheel shaft；7, driving wheel；7-1, driving wheel one；7-2, driving wheel two；7-3, driving
Wheel three；7-4, driving wheel four；8, pin；9, clamping plate；10, spring；11, drag-line；12, tripper；13, steady pin；
14, pipeline center's plane；15, pipe robot；16, pipeline leading portion；17, pipeline back segment.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
The structure of pipe robot is as shown in Figure 1.Motor 1 is fixed on inside driving leg glissile segment 2-1, and motor 1 drives output
Axle 3 drives drive bevel gear 4 to rotate, and drives the driven wheel of differential 5 engaged with 4 to rotate, drives driving wheel 7 by wheel shaft 6
Rotating, constitute robot one driving leg, other three driving legs connect the most in the same way, driving leg glissile segment 2-1 and driving
Dynamic lower limb canned paragraph 2-2 is connected by steady pin 13, and steady pin 13 effect is can be long according to pipe diameter size adjustment driving leg
Short.Driving leg canned paragraph 2-2 is connected to the point midway on clamping plate 9 limit by pin 8.Fix four by eight springs 10 to drive
The circumferential position of dynamic lower limb, the mutual angle of initial position 90 degree.Spring 10 is connected unblock by four drag-line 11 pretensions, drag-line 11
Device 12.
The way of act of pipe robot mainly has following several:
(1) forward-reverse
As it is shown on figure 3, according to pipe diameter size adjustment steady pin 13, make pipe robot 15 be supported on pipeline center's plane,
Driving wheel one 7-1, driving wheel two 7-2, driving wheel three 7-3, driving wheel four 7-4 turn clockwise, and pipe robot is to moving ahead
Walking (the right is for above), driving wheel one 7-1, driving wheel two 7-2, driving wheel three 7-3, driving wheel four 7-4 rotate counterclockwise,
Pipe robot walks (left side is for below) backward.
(2) attitude is adjusted
Driving wheel one 7-1, driving wheel two 7-2 reversely rotate, and one, two take turns limit can move down, and robot is with pipeline as axle
Turn clockwise；Driving wheel three 7-3, driving wheel four 7-4 reversely rotate, three, four-wheel limit can move down, robot with pipe
Road is that axle turns counterclockwise；Robot can be adjusted and run plan-position.
(3) dam differential settlement culvert pipe dislocation obstacle detouring
As it is shown on figure 3, dam differential settlement can cause culvert pipe dislocation to fragment into pipeline leading portion 16 and pipeline back segment 17, in mistake
At Wei, the obstacle closing on central plane is the most relatively low, easily by, and pipe robot 15 plane of travel of cross structure is being leaned on
Nearly pipeline center plane 14, therefore can cross dislocation obstacle.
(4) T-shaped pipeline is creeped
As shown in Figure 4, the regulation that cross structure formula reservoir culvert perils detecting pipe robot turns to according to driving wheel, Ke Yijin
Enter the by-pass line of T joint.
(5) L-type pipeline is creeped
As it is shown in figure 5, cross structure formula reservoir culvert perils detecting pipe robot is different from the contact of tube wall according to driving wheel,
Can easily pass through L-type pipeline.
(6) there is stuck phenomenon in cross structure formula reservoir culvert perils detecting pipe robot in pipeline, can be filled by unblock
Putting 12 and unclamp drag-line, trip spring 10, four driving leg circumferences are spacing to be released from, and can pull out pipeline by safety rope.
The most as shown in the figure:
If Fig. 3 reservoir dam is due to reasons such as geology and dam material gravity, differential settlement can be produced, cause culvert pipe to misplace,
Being typically all and misplace up and down, pipe robot will be by dislocation position, it is necessary to search out the shortest place of barrier, can from Fig. 3
Going out, closing on, obstacle at central plane is the shortest, and the pipe robot of the present invention is owing to being cross structure, and plane of travel is in pipeline
Central plane, therefore can pass through obstacle.
(1) of Fig. 4-(3) show that T-shaped pipeline is the most curved, and figure (1) robot is in the attitude that moves ahead, and schemes (2) following two
Wheel direction of rotation is contrary, and under frictional force effect, separately, upper driving leg enters by-pass line to lower driving leg, and figure (3) is upper to be driven
Wheel contacts acquisition driving force with tube wall, and robot climbs into by-pass line.
(1) of Fig. 5-(3) show that L-type pipeline is the most curved, and figure (1) robot is in the attitude that moves ahead, and figure (2) entered curved
Leading portion, below 3 driving wheels contact with tube wall, it is thus achieved that driving force realizes leading portion and turns round, figure (3) entered curved back segment, above
Contact tube wall with left side driving wheel and obtain driving force, realize L-type by 3 processes the most curved.
In addition to the implementation, the present invention can also have other embodiments.The skill that all employing equivalents or equivalent transformation are formed
Art scheme, all falls within the protection domain of application claims.
Claims (4)
1. a cross structure formula reservoir culvert perils detecting pipe robot, is characterized in that: include a clamping plate (9) and four drive
Dynamic lower limb, driving leg is connected with the point midway on clamping plate (9) limit by pin (8), and solid by eight springs (10)
Determining the circumferential position of driving leg, the mutual angle of driving leg initial position is 90 degree, and two adjacent springs (10) are passed through
Article one, drag-line (11) connects pretension.
Cross structure formula reservoir culvert perils detecting pipe robot the most according to claim 1, is characterized in that: described driving
Lower limb includes a motor (1), and motor (1) is connected with drive bevel gear (4) by output shaft (3), drive bevel gear
(4) engaging with driven wheel of differential (5), driven wheel of differential (5) is connected with driving wheel (7) by wheel shaft (6).
Cross structure formula reservoir culvert perils detecting pipe robot the most according to claim 2, is characterized in that: described driving
Lower limb includes the driving leg glissile segment (2-1) of driving leg canned paragraph (2-2) and the fixing motor (1) being connected with pin (8),
Connected by steady pin (13) between driving leg canned paragraph (2-2) and driving leg glissile segment (2-1).
4., according to the cross structure formula reservoir culvert perils detecting pipe robot described in claim 1,2 or 3, it is characterized in that: institute
State drag-line (11) to be connected with a tripper (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129914.2A CN104763857B (en) | 2015-03-24 | 2015-03-24 | A kind of cross structure formula reservoir culvert perils detecting pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129914.2A CN104763857B (en) | 2015-03-24 | 2015-03-24 | A kind of cross structure formula reservoir culvert perils detecting pipe robot |
Publications (2)
| Publication Number | Publication Date |
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| CN104763857A CN104763857A (en) | 2015-07-08 |
| CN104763857B true CN104763857B (en) | 2016-11-30 |
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| CN201510129914.2A Expired - Fee Related CN104763857B (en) | 2015-03-24 | 2015-03-24 | A kind of cross structure formula reservoir culvert perils detecting pipe robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106247084B (en) * | 2016-06-18 | 2019-01-29 | 上海建工集团股份有限公司 | A kind of pipe is interior to position wheel construction and its application |
| CN107035935B (en) * | 2017-06-15 | 2019-04-05 | 陈红 | A kind of pipe robot conveniently adapting to different pipelines |
| CN109085388B (en) * | 2018-08-01 | 2020-09-04 | 新昌县宏满机械科技有限公司 | Smooth pipeline inner wall check out test set carrier |
| CN111571080B (en) * | 2020-06-01 | 2022-03-22 | 安徽盈创石化检修安装有限责任公司 | Circular pipeline inner wall girth welding robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010012087A1 (en) * | 2008-07-31 | 2010-02-04 | On Stream Technologies Inc. | Pipe pig and method of cleaning a pipe |
| CN201902765U (en) * | 2010-12-24 | 2011-07-20 | 张龙 | Driving mechanism of pipeline robot |
| CN103148314B (en) * | 2013-03-06 | 2014-11-26 | 北京隆科兴非开挖工程有限公司 | Pipeline walking robot |
| CN203252593U (en) * | 2013-04-02 | 2013-10-30 | 陈烁 | Whisk broom with adjustable broom handle angle |
| CN204197100U (en) * | 2014-11-17 | 2015-03-11 | 河北工业大学 | A kind of quadruped robot with flexible joint |
| CN204573460U (en) * | 2015-03-24 | 2015-08-19 | 浙江水利水电学院 | Cross structure formula reservoir culvert perils detecting pipeline robot |
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- 2015-03-24 CN CN201510129914.2A patent/CN104763857B/en not_active Expired - Fee Related
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| CN104763857A (en) | 2015-07-08 |
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Granted publication date: 20161130 Termination date: 20170324 |