CN105128974B - Creeping motion type pipe robot carrier system and its operational method - Google Patents
Creeping motion type pipe robot carrier system and its operational method Download PDFInfo
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- CN105128974B CN105128974B CN201510685314.4A CN201510685314A CN105128974B CN 105128974 B CN105128974 B CN 105128974B CN 201510685314 A CN201510685314 A CN 201510685314A CN 105128974 B CN105128974 B CN 105128974B
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- carrier system
- chain
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- creeping motion
- type pipe
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Abstract
The present invention relates to a kind of creeping motion type pipe robot carrier system and its operational method.Carrier system includes pawl of removing obstacles, and carrier system also includes outer tube, drive component and ball wheel, and drive component includes motor, sprocket wheel and the chain being sequentially connected, and chain is arranged on the outer wall of outer tube, and chain has spheroid fixed seat；Ball wheel cooperatively forms Universal wheel structure with spheroid fixed seat.Ball wheel cooperatively forms Universal wheel structure with spheroid fixed seat and carrier system is moved along service pipe with creeping motion type, thus can easily cross larger barrier, it is to avoid carrier system occur in service pipe crash, can not normal work the problem of.
Description
Technical field
It is to be related to a kind of wearing cable, removing contamination for pipeline specifically the present invention relates to a kind of carrier system of robot
With the robot carrier system and its operational method of detection.
Background technology
Pipeline is very common a kind of structure in modern society, and it is widely applied in various fields, cable
Pipeline is exactly the very important conduit types of one of which.However, cable channel etc. is in use for some time, in pipeline
Dirt can have been accumulated, if these dirts are not handled, the secondary maintenance and threading of cable channel can have been impacted, sometimes basic nothing
Method should be handled in time by cable, therefore pipeline.In addition, detection for the ambient parameter inside pipeline etc. is also required to lead to
Robot is crossed to be sampled in pipeline.
Existing pipeline cleaning, the robot carrier system for wearing cable and detection typically use delivery formula or inputting type, if
The distance of pipeline is longer, then work apparatus and detection device can not be reached appointed place.In addition, some existing pipes
Use polypody creeping-type more pipeline creeping robot, can not be reached apart from long pipe road destination although it overcomes robot
Problem, but when running into barrier, this robot is difficult to go beyond barrier, and the discharge of the barrier of its cleaning is present
Serious problems, robot or its carrier system are easily blocked, so as to cause robot fault to take place frequently.
The content of the invention
The problem of easily occurring difficult when going beyond barrier for existing pipe robot carrier system, the present invention is main
Syllabus is to provide a kind of creeping motion type pipe robot carrier system.
Easily occurs difficult and cleaning obstacle when going beyond barrier for existing pipe robot carrier system
The emission problem of thing, it is a further object of the present invention to provide a kind of operational method of creeping motion type pipe robot carrier system.
The creeping motion type pipe robot carrier system that the present invention is provided includes pawl of removing obstacles, and carrier system also includes outer tube, driven
Dynamic component and ball wheel, drive component include motor, sprocket wheel and the chain being sequentially connected, and chain is arranged on the outer wall of outer tube, chain
With spheroid fixed seat；Ball wheel cooperatively forms Universal wheel structure with spheroid fixed seat.
From such scheme, ball wheel and spheroid fixed seat cooperatively form Universal wheel structure and allow carrier system along work
Make pipeline to move with creeping motion type, thus can easily cross larger barrier, it is to avoid carrier system goes out in service pipe
Now crash, can not normal work the problem of.
One preferred scheme is that chain is arranged in chain box, and chain box is fixed on the outer wall of outer tube, and ball wheel is extremely
It is few a part of exposed outside chain box.
From such scheme, on the one hand chain box is conducive to playing a protective role to chain, on the other hand can be to chain
Arrangement mode of the bar on the outer wall of outer tube plays guiding function well, further, it is also possible to ball wheel and spheroid fixed seat
Stabilization is played in cooperation.
One preferred scheme is that creeping motion type pipe robot carrier system also includes inner tube, and motor and sprocket wheel are arranged on
In gear box, gear box is arranged between inner tube and outer tube.
From such scheme, rationally using the space of carrier system, inner tube and outer tube are provided with beneficial to motor and chain
The structure arrangement of wheel component, and such structure is it is possible to prevente effectively from motor and sprocket wheel are by outside environmental corrosion.
Further preferred scheme is that inner tube has hollow structure, and advances in creeping motion type pipe robot carrier system
The upstream face in direction is provided with multiple pawls of removing obstacles.
From such scheme, in the upstream end of direction of advance, after pawl of removing obstacles loosens barrier on service pipe inwall
The downstream of direction of advance can be gradually shifted into along the inner tube of hollow structure, it is very reasonable to design, it is to avoid barrier
The influence that ponding is caused to carrier system.
One preferred scheme is that motor is Worm reduction motor.
From such scheme, Worm reduction motor can provide powerful power for ball wheel, and the power of ball wheel
Exactly its important impetus advanced in service pipe, for some difficult barriers, Worm reduction motor can be with
Play unexpected technique effect.
One preferred scheme is that chain is spirally arranged along the circumferential of the outer wall of outer tube.
From such scheme, the mode that chain is spirally arranged contributes to the overall advance of carrier system, improves work
Efficiency.
Further preferred scheme is to remove obstacles pawl to have cuboid jaggy, and breach is located at the outside of upstream face.
From such scheme, the barrier that pawl scheme of removing obstacles is more beneficial on the inwall service pipe understands,
Strengthen the operating efficiency of carrier system.
The operational method for the creeping motion type pipe robot carrier system that the present invention is provided is as follows, wherein the creeping motion type pipe machine
Device people carrier system includes outer tube, inner tube, drive component and ball wheel；Drive component includes motor, sprocket wheel and the chain being sequentially connected
Bar, chain is arranged on the outer wall of outer tube, and motor and sprocket wheel are arranged in gear box, the gear box be arranged on inner tube and outer tube it
Between, chain has spheroid fixed seat, and ball wheel cooperatively forms Universal wheel structure with spheroid fixed seat, and inner tube has hollow structure, and
The upstream face of creeping motion type pipe robot carrier system direction of advance is provided with multiple pawls of removing obstacles；The operational method includes：
Creeping motion type pipe robot carrier system is put into service pipe, at least a portion and the service pipe of the outer wall of outer tube
Inwall is fitted；In the presence of motor, successively with movable sprocket and chain movement, the spheroid fixed seat on chain drives ball wheel compacted
Dynamic, the overall of creeping motion type pipe robot carrier system is moved axially relative to service pipe；Pawl remove obstacles service pipe inwall
On inner tube of the barrier along hollow structure be discharged to the downstream of direction of advance.
One preferred scheme is that the entirety of the outer wall of outer tube and the inwall of service pipe are brought into close contact.
From such scheme, the active force increase that ball wheel is produced, the operating efficiency of carrier system is improved.
One preferred scheme is that outer wall of the chain along outer tube is arranged in circumferential screw type mode.
From such scheme, the active force increase that ball wheel is produced, the operating efficiency of carrier system is improved.
Brief description of the drawings
Fig. 1 is the structure chart of creeping motion type pipe robot carrier system embodiment of the present invention.
Fig. 2 is the front view of creeping motion type pipe robot carrier system embodiment of the present invention.
Fig. 3 is the left view of creeping motion type pipe robot carrier system embodiment of the present invention.
Fig. 4 is the top view of the pawl of removing obstacles of creeping motion type pipe robot carrier system embodiment of the present invention.
Fig. 5 is that the gear box of creeping motion type pipe robot carrier system embodiment of the present invention is installed in inner and outer tubes
Structure chart.
Fig. 6 is the motor of creeping motion type pipe robot carrier system embodiment of the present invention and the matching chart of sprocket wheel.
Fig. 7 is between chain, spheroid fixed seat and the ball wheel of creeping motion type pipe robot carrier system embodiment of the present invention
Matching chart.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
As shown in Figure 1, Figure 2 and Figure 3, the creeping motion type pipe robot carrier system of the present embodiment includes outer tube 10, inner tube
20th, drive component, ball wheel, chain box 30 and pawl 40 of removing obstacles.The quantity of pawl of removing obstacles is eight, and this eight pawls 40 of removing obstacles are along advance
Direction upstream face 41 is arranged circumferentially.The outer wall of outer tube 10 is provided with the chain box 30 fixed with welding manner, chain
The circumferential spiral arrangement of outer wall of the box 30 along outer tube 10.Inner tube 20 is hollow structure, that is, the two ends that inner tube 20 is insertion
Open structure.
As shown in figure 4, each is removed obstacles, pawl 40 is tool cuboid 42 jaggy, and when cuboid 42 is arranged on upstream
Breach is kept to be located at the outside of upstream face 41 when on end face 41.
As shown in Figure 5 and Figure 6, there is gear box 11 between inner tube 20 and outer tube 10, motor 50 and sprocket wheel 51 are respectively provided with
In gear box 11, wherein motor 50 is preferably Worm reduction motor.Drive component includes motor 50, the chain being sequentially connected
Wheel 51 and chain 52, inner tube 20 are provided with the corrosion that material in external environment condition is avoided beneficial to gear box 11 with outer tube 10.Such as Fig. 7
It is shown, there is spheroid fixed seat 54, ball wheel 55 cooperatively forms Universal wheel structure with spheroid fixed seat 54 on chain 52.Ball wheel 55 with
Spheroid fixed seat 54 cooperatively forms Universal wheel structure and carrier system is moved along service pipe with creeping motion type, thus may be used
Easily to cross larger barrier, it is to avoid carrier system occur in service pipe crash, can not normal work the problem of.
The chain 52 of the present embodiment is arranged in chain box 30, ball wheel it is a part of exposed outside chain box 30, due to
Chain box 30 helically arrange by formula, therefore chain 52 in the outer wall of outer tube 10, also helically arrange by formula mode, and chain 52 is helically
The mode of formula arrangement contributes to the overall advance of carrier system, improves operating efficiency.The one side of chain box 30 is conducive to chain
52 play a protective role, and on the other hand can also play guiding well to arrangement mode of the chain 52 on the outer wall of outer tube 10
Effect, further, it is also possible to which stabilization is played in the cooperation to ball wheel 55 in the spheroid fixed seat 54 of chain 52.
In the upstream end of direction of advance, pawl 40 of removing obstacles can be along hollow knot after barrier on service pipe inwall is loosened
The inner tube 20 of structure is gradually shifted into the downstream of direction of advance, and this design is very reasonable, it is to avoid the ponding of barrier
The influence caused to carrier system.
Worm reduction motor can provide powerful power for ball wheel 55, and the power of ball wheel 55 exactly its in work
The important impetus advanced in pipeline, for some difficult barriers, Worm reduction motor can play unexpected
Technique effect.
The operational method of the creeping motion type pipe robot carrier system of the present embodiment is as follows：First creeping motion type pipeline machine
People's carrier system is put into service pipe, and a part for the outer wall of outer tube 10 and the inwall of service pipe are adjacent to.As preferred
Scheme, is brought into close contact the entirety of the outer wall of outer tube 10 and the inwall of service pipe, can so strengthen the work of the generation of ball wheel 55
Firmly, the operating efficiency of carrier system is improved.
Then, in the presence of motor 50, band movable sprocket 51 and chain 52 are moved successively, outer wall of the chain 52 along outer tube 10
Helically formula mode shuttling movement, and then drive the ball wheel 55 of the spheroid fixed seat 54 on chain 52 to occur creeping effect.
Then, the overall of creeping motion type pipe robot carrier system is moved axially relative to service pipe, and pawl of removing obstacles
Barrier on 40 service pipe inwalls discharge the downstream of direction of advance along inner tube 20.In order to which creeping motion type is better described
Operation principle of the pipe robot carrier system in service pipe, here analogizes to this motion process the fortune of ball screw
Flowing mode, ball screw includes having helicla flute on screw rod, ball and nut, screw rod, and ball is arranged in helicla flute.Carrier system
Ball wheel 50 on system is equivalent to ball, and chain 52 is equivalent to the helicla flute on screw rod, and service pipe is equivalent to nut, when
Multiple ball wheels 50 occur after creeping effect, and relative fortune can occur between creeping motion type pipe robot carrier system and service pipe
It is dynamic.
It should be noted that the creeping motion type pipe robot carrier system of the present embodiment can be generally used for cable channel
Clean-up operation when secondary maintenance and threading, can be used for other pipelines such as bridge drainage pipeline etc..But for normal
The pipeline that state water passes through, and water flow it is larger when, the application of the creeping motion type pipe robot carrier system of the present embodiment can be by
To a definite limitation.
Finally it should be noted that the invention is not restricted to above-mentioned embodiment, such as being carried in creeping motion type pipe robot
Sensor for detecting pipeline intrinsic parameter such as temperature or humidity is installed on system system, or installed on carrier system with bat
The design such as device according to function is also within the claims of the present invention.
Claims (9)
1. creeping motion type pipe robot carrier system, creeping motion type pipe robot carrier system includes pawl of removing obstacles, it is characterised in that
The system also includes:
Outer tube；
Drive component, the drive component includes motor, sprocket wheel and the chain being sequentially connected, and the chain is arranged on the outer tube
Outer wall, the chain has spheroid fixed seat；
Ball wheel, the ball wheel cooperatively forms Universal wheel structure with the spheroid fixed seat；
The creeping motion type pipe robot carrier system also includes inner tube, and said inner tube has hollow structure, and is wriggled described
The upstream face of formula pipe robot carrier system direction of advance is provided with multiple pawls of removing obstacles.
2. creeping motion type pipe robot carrier system according to claim 1, it is characterised in that：
The chain is arranged in chain box, and the chain box is fixed on the outer wall of the outer tube, and at least the one of the ball wheel
Partial denudation is outside the chain box.
3. creeping motion type pipe robot carrier system according to claim 1 or 2, it is characterised in that:
The motor and the sprocket wheel are arranged in gear box, and the gear box is arranged between said inner tube and the outer tube.
4. creeping motion type pipe robot carrier system according to claim 1 or 2, it is characterised in that：
The motor is Worm reduction motor.
5. creeping motion type pipe robot carrier system according to claim 1 or 2, it is characterised in that：
The circumferential spiral arrangement of outer wall of the chain along the outer tube.
6. creeping motion type pipe robot carrier system according to claim 1, it is characterised in that：
Described to remove obstacles pawl to have cuboid jaggy, the breach is located at the outside of the upstream face.
7. the operational method of creeping motion type pipe robot carrier system, the creeping motion type pipe robot carrier system include outer tube,
Inner tube, drive component and ball wheel；The drive component includes motor, sprocket wheel and the chain being sequentially connected, and the chain is arranged on
The outer wall of the outer tube, the motor and the sprocket wheel are arranged in gear box, and the gear box is arranged on said inner tube and institute
State between outer tube, the chain has spheroid fixed seat, the ball wheel cooperatively forms Universal wheel structure with the spheroid fixed seat,
Said inner tube has hollow structure, and is provided with the upstream face of the creeping motion type pipe robot carrier system direction of advance
Multiple pawls of removing obstacles；
Characterized in that, the operational method includes：
Creeping motion type pipe robot carrier system is put into service pipe, at least a portion and the institute of the outer wall of the outer tube
State the inwall laminating of service pipe；
In the presence of motor, successively with movable sprocket and chain movement, the spheroid fixed seat on chain drives the ball wheel to wriggle,
The overall of the creeping motion type pipe robot carrier system is moved axially relative to the service pipe；
Barrier on the service pipe inwall is discharged to direction of advance by the pawl of removing obstacles along the said inner tube of hollow structure
Downstream.
8. the operational method of creeping motion type pipe robot carrier system according to claim 7, it is characterised in that：
The entirety and the inwall of the service pipe of the outer wall of the outer tube are brought into close contact.
9. the operational method of the creeping motion type pipe robot carrier system according to claim 7 or 8, it is characterised in that：
Outer wall of the chain along the outer tube is arranged in circumferential screw type mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510685314.4A CN105128974B (en) | 2015-10-20 | 2015-10-20 | Creeping motion type pipe robot carrier system and its operational method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510685314.4A CN105128974B (en) | 2015-10-20 | 2015-10-20 | Creeping motion type pipe robot carrier system and its operational method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105128974A CN105128974A (en) | 2015-12-09 |
| CN105128974B true CN105128974B (en) | 2017-09-26 |
Family
ID=54714668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510685314.4A Expired - Fee Related CN105128974B (en) | 2015-10-20 | 2015-10-20 | Creeping motion type pipe robot carrier system and its operational method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105128974B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5533224A (en) * | 1995-04-12 | 1996-07-09 | Knapp; Kenneth M. | Foam pig with scraper strips |
| JP2005084412A (en) * | 2003-09-09 | 2005-03-31 | Sadatada Ota | Pipe checking device and pipe checking apparatus |
| CN102101116A (en) * | 2009-12-18 | 2011-06-22 | 安东石油技术（集团）有限公司 | Pipe inner wall descaling cutter |
| JP6109643B2 (en) * | 2012-05-26 | 2017-04-05 | 学校法人 龍谷大学 | Crawler type robot and traveling robot connected body connecting it |
| CN103742755B (en) * | 2013-12-17 | 2015-12-02 | 西南石油大学 | A kind of soft caterpillar belt type pipeline robot |
| CN104691648A (en) * | 2015-01-06 | 2015-06-10 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Attitude control method of snake-like robot for advancing in hole |
| CN204657655U (en) * | 2015-03-26 | 2015-09-23 | 重庆盈捷科技有限公司 | Tubing string inner burr scraper |
| CN205131422U (en) * | 2015-10-20 | 2016-04-06 | 中铁十九局集团第七工程有限公司 | Carrier system of wriggling formula pipeline robot |
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2015
- 2015-10-20 CN CN201510685314.4A patent/CN105128974B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN105128974A (en) | 2015-12-09 |
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Granted publication date: 20170926 Termination date: 20211020 |