CN105822868A - Hydraulic feedback speed-controllable pipeline robot - Google Patents
Hydraulic feedback speed-controllable pipeline robot Download PDFInfo
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- CN105822868A CN105822868A CN201610151862.3A CN201610151862A CN105822868A CN 105822868 A CN105822868 A CN 105822868A CN 201610151862 A CN201610151862 A CN 201610151862A CN 105822868 A CN105822868 A CN 105822868A
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- piston
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- regulation valve
- housing
- fluid pump
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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
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a hydraulic feedback speed-controllable pipeline robot. The hydraulic feedback speed-controllable pipeline robot comprises a shell, leather cups, supporting wheels, a piston device, an adjusting valve, a fluid pump and a speed collection wheel. An opening is formed in the end face of one end of the shell. The piston device comprises a piston cylinder, a piston and a telescopic rod. One end of the telescopic rod is fixed to the side, not in an oil cavity, of the piston. The other end of the telescopic rod is provided with the adjusting valve with the opening degree of the opening capable of being adjusted. The oil cavity of the piston cylinder communicates with one end of a liquid inlet pipe. A liquid outlet of the fluid pump communicates with the other end of the liquid inlet pipe. The oil cavity of the piston cylinder further communicates with one end of a liquid return pipe. A liquid inlet of the fluid pump communicates with the other end of the liquid return pipe. The liquid return pipe is further provided with a throttling valve and a liquid storage container capable of balancing the pressure difference between the inside and the outside. The speed collecting wheel is installed on the tail of the shell through an elastic arm and is in transmission connection with the fluid pump. The hydraulic feedback speed-controllable pipeline robot has the advantages that a hydraulic feedback loop is adopted, energy of fluid in the pipeline is fully utilized, and the reliability of the speed-controllable pipeline robot is greatly improved.
Description
Technical field
The present invention relates to intraductal operation machinery, particularly hydraulic feedback rate controlling pipe robot.
Background technology
The Main Means that pipeline carries as fluid, is widely used in the every aspect of productive life, especially prominent at petrochemical industry.Long distance pipeline, as the Main Means of oil-gas transportation, has accounted for more than the 80% of whole oil-gas transportation.Long distance pipeline, after operation one end time, is required for safeguarding and detecting.At maintenance phase, need to carry out low speed pigging operation；In context of detection, it is desirable to detection equipment low cruise.Conventional operation means, is to be reduced defeated by the flow velocity of conveyance fluid, to reach low speed pigging, and the purpose of low-speed detection.But this leverages production efficiency, and uncontrollable due to pipe robot running status, velocity perturbation is relatively big, and the effect that detection is safeguarded is the most undesirable.
The most relatively the rate controlling of widely used fluid-operated pipe robot is all to adopt electronically.Pipe robot self needs to consume a large amount of electric energy in order at every moment controlling opening of valve, to change the fluid size to the active force that robot produces.Owing to battery self-energy is limited so that the pipe robot operation distance of electronics rate controlling is extremely restricted.Meanwhile, using electronic structure, need the most a lot of sensor, motor, driver, executor etc. so that the structure of rate controlling pipe robot is the most complicated, when using under bad working environments, reliability is difficult to ensure that.
Summary of the invention
It is an object of the invention to overcome the shortcoming of prior art, a kind of reliability height, principle simple hydraulic feedback rate controlling pipe robot are provided, use the feedback circuit of hydraulic pressure, the pressure in piston/cylinder is controlled by fluid pump, thus controlling opening of valve, it is achieved robot controls in the speed of travel of pipe interior.
nullThe purpose of the present invention is achieved through the following technical solutions: hydraulic feedback rate controlling pipe robot，It includes housing and leather cup，At least two leather cup it is set with on the outer wall of housing，Described hydraulic feedback rate controlling pipe robot also includes the piston apparatus being arranged at enclosure interior、It is arranged at the regulation valve of shell one end、Fluid pump and for detect described robot speed speed acquisition wheel，Opening is had on one end end face of housing，Described piston apparatus includes piston/cylinder、Piston and expansion link，Piston/cylinder is fixed in housing，Piston is slidably installed in piston/cylinder，Piston/cylinder is divided into oil pocket and non-oil pocket by piston，One end of expansion link is fixed on piston and is positioned at non-oil pocket side，The other end of expansion link connects the regulation valve having adjustable openings aperture，Regulation valve coordinates with described opening，The oil pocket of piston/cylinder connects with one end of feed tube，The liquid outlet of fluid pump connects with the other end of feed tube，The oil pocket of piston/cylinder also connects with one end of liquid back pipe，The inlet of fluid pump connects with the other end of liquid back pipe，It is additionally provided with choke valve on the pipeline of liquid back pipe and the liquid storage container of inside and outside differential pressure can be balanced，Described speed acquisition wheel is arranged on the afterbody of housing by elastic arm，Speed acquisition wheel is connected with fluid pump drive.
Described regulation valve is plank frame, regulation valve is positioned at hull outside, the other end of expansion link is fixing with regulation valve end face center to be connected, and the lateral wall of described opening is provided with conical surface A, and described regulation valve is provided with, on the end face of opening, the conical surface B coordinated with conical surface A.
Described regulation valve is butterfly valve, and regulation valve is arranged on opening inwall, and the other end of expansion link is hinged and connected at the end face edge of regulation valve.
Described regulation valve is rotary valve, and rotary valve includes rotor and stator, and stator is fixed in opening, and the other end of expansion link is provided with the shifter that linear motion can be converted into rotary motion, and rotor is in transmission connection with the outfan of shifter.
The non-oil intracavity of described piston/cylinder is additionally provided with spring, and spring housing is loaded on expansion link, and one end of spring is fixed on the end face of piston, and the other end is fixed on the inner side end of piston/cylinder.
The two ends of described housing are separately installed with support wheel support, and each support wheel support is provided with support wheel, support wheel and are supported on the inwall of pipeline.
The invention have the advantages that
1, housing is provided for the speed acquisition wheel of measuring robots speed, and Negotiation speed collection wheel driven fluid pump, rotating speed is the fastest, pump into the liquid in piston/cylinder the most, and the opening of choke valve is certain value, the liquid that unit interval spills out is limited, make the expansion link amount of being moved along the biggest, aperture between regulation valve and opening becomes big, vent flow increases, robot speed slows down, the speed of speed acquisition wheel slows down, fluid pump pumps into the liquid in piston/cylinder to be reduced, aperture between regulation valve and opening diminishes, vent flow reduces again, robot speed promotes again, the most repeatedly, realize hydraulic feedback rate controlling.
2, the rate controlling pipe robot of hydraulic way is used, owing to directly using hydraulic energy as the energy source of rate controlling, mode and the principle of rate controlling mechanism the most ingenious employing hydraulic pressure are simple, this makes this kind of robot the operation of indefinite length can go down in fluid line in theory, simultaneously, the part that hydraulic pressure rate controlling pipe robot uses is less compared to electronic tube pipeline robot, the reliability of Hydraulic Elements is higher compared to the reliability of a large amount of electronic components, the reliability of this kind of rate controlling pipe robot is higher, is more beneficial for being applicable to bad working environments.
Accompanying drawing explanation
Fig. 1 is the structural representation of first embodiment of the invention；
Fig. 2 is the structural representation of second embodiment of the invention；
Fig. 3 is the structural representation of third embodiment of the invention；
In figure: 1-housing, 2-leather cup, 3-supports wheel support, and 4-supports wheel, 5-piston/cylinder, 6-piston, 7-expansion link, 8-regulates valve, 9-opening, 10-conical surface A, 11-spring, 12-fluid pump, 13-feed tube, 14-liquid back pipe, 15-choke valve, 16-liquid storage container, 17-speed acquisition is taken turns, 18-elastic arm, 19-pipeline, 20-rotor, 21-stator, 22-shifter.
Detailed description of the invention
The present invention will be further described with embodiment below in conjunction with the accompanying drawings, but protection scope of the present invention is not limited to the following stated.
[embodiment 1]:
nullAs shown in Figure 1，Hydraulic feedback rate controlling pipe robot，It includes housing 1 and leather cup 2，At least two leather cup 2 it is set with on the outer wall of housing 1，Described hydraulic feedback rate controlling pipe robot also includes being arranged at the piston apparatus within housing 1、It is arranged at the regulation valve 8 of housing 1 one end、Fluid pump 12 and for detect described robot speed speed acquisition wheel 17，Opening 9 is had on one end end face of housing 1，Described piston apparatus includes piston/cylinder 5、Piston 6 and expansion link 7，Piston/cylinder 5 is fixed in housing 1，Piston 6 is slidably installed in piston/cylinder 5，Piston/cylinder 5 is divided into oil pocket and non-oil pocket by piston 6，One end of expansion link 7 is fixed on piston 6 and is positioned at non-oil pocket side，The other end of expansion link 7 connects the regulation valve 8 having adjustable openings 9 aperture，Regulation valve 8 coordinates with described opening 9，Described regulation valve 8 is plank frame，Regulation valve 8 is positioned at outside housing 1，The other end of expansion link 7 is fixing with regulation valve 8 end face center to be connected，It is provided with conical surface A10 on the lateral wall of described opening 9，Described regulation valve 8 is provided with, on the end face of opening 9, the conical surface B coordinated with conical surface A10，The oil pocket of piston/cylinder 5 connects with one end of feed tube 13，The liquid outlet of fluid pump 12 connects with the other end of feed tube 13，The oil pocket of piston/cylinder 5 also one end with liquid back pipe 14 connects，The inlet of fluid pump 12 connects with the other end of liquid back pipe 14，It is additionally provided with choke valve 15 on the pipeline of liquid back pipe 14 and the liquid storage container 16 of inside and outside differential pressure can be balanced，Described speed acquisition wheel 17 passes through elastic arm 18 and is arranged on the afterbody of housing 1，Speed acquisition wheel 17 is connected with fluid pump 12 transmission.
Further, the non-oil intracavity of described piston/cylinder 5 is additionally provided with spring 11, spring 11 is set on expansion link 7, and one end of spring 11 is fixed on the end face of piston 6, the other end is fixed on the inner side end of piston/cylinder 5, when in oil cylinder, hydraulic coupling reduces, spring 11 provides restoring force so that regulation valve plate 8 is to away from opening 9 one side shifting.
Further, the two ends of described housing 1 are separately installed with support wheel support 3, and each support wheel support 3 is provided with support wheel 4, support wheel 4 and are supported on the inwall of pipeline 19, support wheel 4 and play auxiliary supporting role.
nullDuring work，Hydraulic feedback rate controlling pipe robot is placed in pipeline 19，Assume that initial velocity is zero，The speed that now speed acquisition wheel 18 is collected also is zero，Fluid pump 12 does not works，I.e. piston 6 in piston/cylinder 5 is positioned at low order end，The conical surface B of regulation valve 8 closely cooperates with the conical surface A of opening 9 simultaneously，Under fluid pressure difference state in pipeline 19，Hydraulic feedback rate controlling pipe robot moves forward，Speed acquisition wheel 18 starts to rotate，Simultaneously drive fluid pump 12，Along with hydraulic feedback rate controlling pipe robot translational speed increases，The velocity of rotation of speed acquisition wheel 18 is the biggest，Liquid in fluid pump 12 pumps into piston/cylinder 5 simultaneously is the most，And the aperture of choke valve 15 keeps certain，When pumping into the aperture critical flow that flow is more than choke valve 15 of fluid pump 12，Thus promote piston 6 to be moved to the left，Aperture between regulation valve 8 and opening 9 increases，Vent flow increases，The speed of hydraulic feedback rate controlling pipe robot slows down，The velocity of rotation of speed acquisition wheel 18 diminishes，Fluid pump 12 pumps into the liquid in piston/cylinder 5 to be reduced，When pumping into the aperture critical flow that flow is less than choke valve 15 of fluid pump 12，Regulation valve 8 moves right again，Aperture between regulation valve 8 and opening 9 reduces，The speed of hydraulic feedback rate controlling pipe robot starts again to promote，So go round and begin again，Realize rate controlling.
[embodiment 2]:
nullAs shown in Figure 2，Hydraulic feedback rate controlling pipe robot，It includes housing 1 and leather cup 2，At least two leather cup 2 it is set with on the outer wall of housing 1，Described hydraulic feedback rate controlling pipe robot also includes being arranged at the piston apparatus within housing 1、It is arranged at the regulation valve 8 of housing 1 one end、Fluid pump 12 and for detect described robot speed speed acquisition wheel 17，Opening 9 is had on one end end face of housing 1，Described piston apparatus includes piston/cylinder 5、Piston 6 and expansion link 7，Piston/cylinder 5 is fixed in housing 1，Piston 6 is slidably installed in piston/cylinder 5，Piston/cylinder 5 is divided into oil pocket and non-oil pocket by piston 6，One end of expansion link 7 is fixed on piston 6 and is positioned at non-oil pocket side，The other end of expansion link 7 connects the regulation valve 8 having adjustable openings 9 aperture，Regulation valve 8 coordinates with described opening 9，Described regulation valve 8 is butterfly valve，Regulation valve 8 is arranged on opening 9 inwall，The other end of expansion link 7 is hinged and connected at the end face edge of regulation valve 8，The oil pocket of piston/cylinder 5 connects with one end of feed tube 13，The liquid outlet of fluid pump 12 connects with the other end of feed tube 13，The oil pocket of piston/cylinder 5 also one end with liquid back pipe 14 connects，The inlet of fluid pump 12 connects with the other end of liquid back pipe 14，It is additionally provided with choke valve 15 on the pipeline of liquid back pipe 14 and the liquid storage container 16 of inside and outside differential pressure can be balanced，Described speed acquisition wheel 17 passes through elastic arm 18 and is arranged on the afterbody of housing 1，Speed acquisition wheel 17 is connected with fluid pump 12 transmission.
The non-oil intracavity of described piston/cylinder 5 is additionally provided with spring 11, spring 11 is set on expansion link 7, and one end of spring 11 is fixed on the end face of piston 6, the other end is fixed on the inner side end of piston/cylinder 5, when in oil cylinder, hydraulic coupling reduces, spring 11 provides restoring force so that regulation valve plate 8 is to away from opening 9 one side shifting.
The two ends of described housing 1 are separately installed with support wheel support 3, and each support wheel support 3 is provided with support wheel 4, support wheel 4 and are supported on the inwall of pipeline 19, support wheel 4 and play auxiliary supporting role.
nullDuring work，Hydraulic feedback rate controlling pipe robot is placed in pipeline 19，Assume that initial velocity is zero，The speed that now speed acquisition wheel 18 is collected also is zero，Fluid pump 12 does not works，I.e. piston 6 in piston/cylinder 5 is positioned at low order end，Now regulation valve 8 is in closure state，Under fluid pressure difference state in pipeline 19，Hydraulic feedback rate controlling pipe robot moves forward，Speed acquisition wheel 18 starts to rotate，Simultaneously drive fluid pump 12，Along with hydraulic feedback rate controlling pipe robot translational speed increases，The velocity of rotation of speed acquisition wheel 18 is the biggest，Liquid in fluid pump 12 pumps into piston/cylinder 5 simultaneously is the most，And the aperture of choke valve 15 keeps certain，When pumping into the aperture critical flow that flow is more than choke valve 15 of fluid pump 12，Thus promote piston 6 to be moved to the left，Aperture between regulation valve 8 and opening 9 increases，Vent flow increases，The speed of hydraulic feedback rate controlling pipe robot slows down，The velocity of rotation of speed acquisition wheel 18 diminishes，Fluid pump 12 pumps into the liquid in piston/cylinder 5 to be reduced，When pumping into the aperture critical flow that flow is less than choke valve 15 of fluid pump 12，Aperture between regulation valve 8 and opening 9 reduces，The speed of hydraulic feedback rate controlling pipe robot starts again to promote，So go round and begin again，Realize rate controlling.
[embodiment 3]:
nullAs shown in Figure 3，Hydraulic feedback rate controlling pipe robot，It includes housing 1 and leather cup 2，At least two leather cup 2 it is set with on the outer wall of housing 1，Described hydraulic feedback rate controlling pipe robot also includes being arranged at the piston apparatus within housing 1、It is arranged at the regulation valve 8 of housing 1 one end、Fluid pump 12 and for detect described robot speed speed acquisition wheel 17，Opening 9 is had on one end end face of housing 1，Described piston apparatus includes piston/cylinder 5、Piston 6 and expansion link 7，Piston/cylinder 5 is fixed in housing 1，Piston 6 is slidably installed in piston/cylinder 5，Piston/cylinder 5 is divided into oil pocket and non-oil pocket by piston 6，One end of expansion link 7 is fixed on piston 6 and is positioned at non-oil pocket side，The other end of expansion link 7 connects the regulation valve 8 having adjustable openings 9 aperture，Regulation valve 8 coordinates with described opening 9，Described regulation valve 8 is rotary valve，Rotary valve includes rotor 20 and stator 21，Stator 21 is fixed in opening 9，The other end of expansion link 7 is provided with the shifter 22 that linear motion can be converted into rotary motion，Rotor 20 is in transmission connection with the outfan of shifter 22，The oil pocket of piston/cylinder 5 connects with one end of feed tube 13，The liquid outlet of fluid pump 12 connects with the other end of feed tube 13，The oil pocket of piston/cylinder 5 also one end with liquid back pipe 14 connects，The inlet of fluid pump 12 connects with the other end of liquid back pipe 14，It is additionally provided with choke valve 15 on the pipeline of liquid back pipe 14 and the liquid storage container 16 of inside and outside differential pressure can be balanced，Described speed acquisition wheel 17 passes through elastic arm 18 and is arranged on the afterbody of housing 1，Speed acquisition wheel 17 is connected with fluid pump 12 transmission.
The non-oil intracavity of described piston/cylinder 5 is additionally provided with spring 11, spring 11 is set on expansion link 7, and one end of spring 11 is fixed on the end face of piston 6, the other end is fixed on the inner side end of piston/cylinder 5, when in oil cylinder, hydraulic coupling reduces, spring 11 provides restoring force so that regulation valve plate 8 is to away from opening 9 one side shifting.
The two ends of described housing 1 are separately installed with support wheel support 3, and each support wheel support 3 is provided with support wheel 4, support wheel 4 and are supported on the inwall of pipeline 19, support wheel 4 and play auxiliary supporting role.
nullDuring work，Hydraulic feedback rate controlling pipe robot is placed in pipeline 19，Assume that initial velocity is zero，The speed that now speed acquisition wheel 18 is collected also is zero，Fluid pump 12 does not works，I.e. piston 6 in piston/cylinder 5 is positioned at low order end，Now rotary valve is in closure state，Under fluid pressure difference state in pipeline 19，Hydraulic feedback rate controlling pipe robot moves forward，Speed acquisition wheel 18 starts to rotate，Simultaneously drive fluid pump 12，Along with hydraulic feedback rate controlling pipe robot translational speed increases，The velocity of rotation of speed acquisition wheel 18 is the biggest，Liquid in fluid pump 12 pumps into piston/cylinder 5 simultaneously is the most，And the aperture of choke valve 15 keeps certain，When pumping into the aperture critical flow that flow is more than choke valve 15 of fluid pump 12，Thus promote piston 6 to be moved to the left，Expansion link 7 stretches out to the left，The linear running of expansion link 7 is converted into rotary motion by shifter 22，Thus rotor driven 20 rotates，Rotary valve aperture increases，Vent flow increases，The speed of hydraulic feedback rate controlling pipe robot slows down，The velocity of rotation of speed acquisition wheel 18 diminishes，Fluid pump 12 pumps into the liquid in piston/cylinder 5 to be reduced，When pumping into the aperture critical flow that flow is less than choke valve 15 of fluid pump 12，The aperture of regulation valve 8 reduces，The speed of hydraulic feedback rate controlling pipe robot starts again to promote，So go round and begin again，Realize rate controlling.
Claims (6)
- null1. hydraulic feedback rate controlling pipe robot，It includes housing (1) and leather cup (2)，At least two leather cup (2) it is set with on the outer wall of housing (1)，It is characterized in that: described hydraulic feedback rate controlling pipe robot also includes being arranged at the piston apparatus that housing (1) is internal、It is arranged at the regulation valve (8) of housing (1) one end、Fluid pump (12) and for detect described robot speed speed acquisition wheel (17)，Opening (9) is had on one end end face of housing (1)，Described piston apparatus includes piston/cylinder (5)、Piston (6) and expansion link (7)，Piston/cylinder (5) is fixed in housing (1)，Piston (6) is slidably installed in piston/cylinder (5)，Piston/cylinder (5) is divided into oil pocket and non-oil pocket by piston (6)，One end of expansion link (7) is fixed on piston (6) and is positioned at non-oil pocket side，The other end of expansion link (7) is provided with the regulation valve (8) of adjustable openings (9) aperture，Regulation valve (8) coordinates with described opening (9)，The oil pocket of piston/cylinder (5) connects with one end of feed tube (13)，The liquid outlet of fluid pump (12) connects with the other end of feed tube (13)，The oil pocket of piston/cylinder (5) also one end with liquid back pipe (14) connects，The inlet of fluid pump (12) connects with the other end of liquid back pipe (14)，It is additionally provided with choke valve (15) on the pipeline of liquid back pipe (14) and the liquid storage container (16) of inside and outside differential pressure can be balanced，Described speed acquisition wheel (17) is arranged on the afterbody of housing (1) by elastic arm (18)，Speed acquisition wheel (17) is connected with fluid pump (12) transmission.
- Hydraulic feedback rate controlling pipe robot the most according to claim 1, it is characterized in that: described regulation valve (8) is plank frame, regulation valve (8) is positioned at housing (1) outside, the other end of expansion link (7) is fixing with regulation valve (8) end face center to be connected, it is provided with conical surface A(10 on the lateral wall of described opening (9)), described regulation valve (8) is provided with and conical surface A(10 on the end face of opening (9)) conical surface B that coordinates.
- Hydraulic feedback rate controlling pipe robot the most according to claim 1, it is characterized in that: described regulation valve (8) is butterfly valve, regulation valve (8) is arranged on opening (9) inwall, and the other end of expansion link (7) is hinged and connected at the end face edge of regulation valve (8).
- Hydraulic feedback rate controlling pipe robot the most according to claim 1, it is characterized in that: described regulation valve (8) is rotary valve, rotary valve includes rotor (20) and stator (21), stator (21) is fixed in opening (9), the other end of expansion link (7) is provided with the shifter (22) that linear motion can be converted into rotary motion, and rotor (20) is in transmission connection with the outfan of shifter (22).
- 5. according to the hydraulic feedback rate controlling pipe robot described in Claims 1 to 4 any one, it is characterized in that: the non-oil intracavity of described piston/cylinder (5) is additionally provided with spring (11), spring (11) is set on expansion link (7), and one end of spring (11) is fixed on the end face of piston (6), the other end is fixed on the inner side end of piston/cylinder (5).
- Hydraulic feedback rate controlling pipe robot the most according to claim 1, it is characterized in that: the two ends of described housing (1) are separately installed with support wheel support (3), support wheel (4) is installed on each support wheel support (3), supports wheel (4) and be supported on the inwall of pipeline (19).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2015110137166 | 2015-12-31 | ||
| CN201511013716 | 2015-12-31 |
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| Publication Number | Publication Date |
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| CN105822868A true CN105822868A (en) | 2016-08-03 |
| CN105822868B CN105822868B (en) | 2017-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610151862.3A Expired - Fee Related CN105822868B (en) | 2015-12-31 | 2016-03-17 | Hydraulic feedback rate controlling pipe robot |
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| CN106641575A (en) * | 2016-11-19 | 2017-05-10 | 西南石油大学 | Bypass valve type automatic speed-regulation pipe cleaner |
| CN107366797A (en) * | 2017-06-15 | 2017-11-21 | 西安理工大学 | A kind of controllable pneumatic type pipe robot of speed |
| CN108672419A (en) * | 2018-07-17 | 2018-10-19 | 国网辽宁省电力有限公司盘锦供电公司 | A kind of power cable pipe cleaning device |
| CN109237205A (en) * | 2018-11-29 | 2019-01-18 | 湖北科技学院 | A kind of pipeline climbing robot |
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| CN110566752A (en) * | 2019-08-28 | 2019-12-13 | 中国计量大学上虞高等研究院有限公司 | flow regulation and control municipal pipeline inspection robot |
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| CN115076519A (en) * | 2022-06-21 | 2022-09-20 | 安徽省特种设备检测院 | Internal detector and self-balancing speed regulation method |
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