CN107543010A - A kind of detection robot for petroleum pipeline - Google Patents
A kind of detection robot for petroleum pipeline Download PDFInfo
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- CN107543010A CN107543010A CN201710772429.6A CN201710772429A CN107543010A CN 107543010 A CN107543010 A CN 107543010A CN 201710772429 A CN201710772429 A CN 201710772429A CN 107543010 A CN107543010 A CN 107543010A
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Abstract
The invention discloses a kind of detection robot for petroleum pipeline, belongs to petroleum pipeline technical field, including power module, reducing adjustment module and drive module, and power module includes battery compartment base, battery compartment shell, battery compartment top cover, preceding wheel leg, front-wheel；Reducing adjustment module includes reducing adjusting base, reducing adjustment housings, reducing regulation pretectum, reducing regulation back header, support arm, variable-diameter structure sliding part, middle wheel leg and middle wheel；Drive module includes driving preceding base, driving rear base, drive shell, driving top cover, rear wheel leg, trailing wheel, first gear, second gear, the 3rd gear, turbine, worm screw, drive system；Can be according to the external diameter size of the detection robot for petroleum pipeline of the big minor adjustment embodiment of the present invention of Awaiting Overhaul petroleum pipeline, realize that the detection robot for petroleum pipeline of the embodiment of the present invention is used for the detection and maintenance of the petroleum pipeline of a variety of different tube diameters, reduce detection and the maintenance cost of petroleum pipeline.
Description
Technical field
The present invention relates to petroleum pipeline technical field, more particularly to a kind of detection robot for petroleum pipeline.
Background technology
In recent years, with oil and natural gas resource exploitation more and more fully, the transmission of oil in global range is more next
It is more, wherein, oil pipeline transmits the most practical and the most efficient mode, oil pipeline one as the oil in global range
It is directly one of most important lifeline in China.
Because the condition of work of petroleum pipeline is more severe, portions therein are easily corroded, so that tube wall becomes
It is thin, intensity step-down, so that crack occur causes leakage accident.And most of petroleum pipeline in China was 50 or six ten years last century
In generation, has just been spread into underground, is more easy to the above situation occur after a protracted use, so periodically must check pipeline, such as
Fruit takes the mode of hand digging to be detected, and not only adds labor cost, and operating efficiency is low, can also make ground because of excavation
The facility in face is destroyed, and influences traffic above-ground situation.
As Chinese Urbanization construction is quickened one's step, and the startup of West-East National Gas Transmission Project, large scale pipeline system are excellent because of its
The advantage such as elegant operating efficiency and less floor space is widely used, and the substantial amounts of pipe-line in China is distributed in people
The intensive area of mouth, and large-scale oil pipeline, natural gas line can all produce internal leakage and corrosion phenomenon, this phenomenon mostly
Seriously pollute natural environment and produce potential safety hazard.Once generation crack reveals oil pipe, consequence will be hardly imaginable how
Petroleum pipeline is detected and repaired in the case where not producing large-scale damage road surface, is always an insoluble difficulty
Topic, therefore, the research and development to detecting robot of pipe can be described as extremely urgent.
The content of the invention
The embodiment of the present invention provides a kind of detection robot for petroleum pipeline, it is intended to does not produce the situation on large-scale damage road surface
Lower realization is detected and repaired to petroleum pipeline, effectively avoids environmental pollution caused by oil pipe leakage, but also can basis
To be detected and maintenance petroleum pipeline carries out reducing, for the detection and maintenance of the petroleum pipeline of a variety of different tube diameters, reduces
The detection of petroleum pipeline and maintenance cost.
Concrete technical scheme provided by the invention is as follows：
On the one hand, the embodiment of the present invention provides a kind of detection robot for petroleum pipeline, including power module, reducing regulation mould
Block and drive module, wherein, the power module is located at the front portion of the detection robot for petroleum pipeline, and the reducing adjusts mould
Block is located at the middle part of the detection robot for petroleum pipeline, and the drive module is located at the tail of the detection robot for petroleum pipeline
Portion；The power module includes battery compartment base, battery compartment shell, battery compartment top cover, is fixed on the battery compartment base
Preceding wheel leg, the front-wheel in the preceding wheel leg；The reducing adjustment module includes reducing adjusting base, installed in the change
Reducing adjustment housings on the adjusting base of footpath, the reducing in the reducing adjustment housings adjust pretectum, with leading screw
Reducing regulation back header, be arranged on inside the reducing adjustment housings support arm, be arranged in the reducing adjustment housings
The variable-diameter structure sliding part in portion, the middle wheel leg on the reducing adjusting base and in the middle wheel leg in
Wheel；The drive module include driving before base, mutually fixed with base before the driving driving rear base, be arranged on the drive
Move preceding base and the drive shell on the driving rear base, the driving top cover in the drive shell, installed in institute
State the rear wheel leg on driving rear base, the trailing wheel after described in wheel leg, be connected with the drive shaft of the trailing wheel the
One gear, the second gear being connected with the first gear, the 3rd gear being connected with the second gear and the described 3rd
Turbine that gear is connected, the worm screw being connected with the turbine, the drive system being connected with the worm screw；Wheel leg after described
It is connected with the middle wheel leg using regulating arm.
Optionally, the power module is connected with the reducing adjustment module using dual cardan type U-joint, the reducing
Adjustment module is connected with the drive module using dual cardan type U-joint.
Optionally, the worm screw and the drive system are connected using flexible sheet shaft coupling is clamped.
Optionally, the power module includes 3 preceding wheel legs and 3 front-wheels, 3 front-wheels and 3 it is described before
Wheel leg is uniformly arranged around the axis of the battery compartment shell.
Optionally, the reducing adjustment module includes 3 middle wheel legs and 3 middle wheels, 3 middle wheel legs and
Axisymmetrical of 3 middle wheels respectively around the reducing adjustment housings is set.
Optionally, the drive module include 3 it is described after wheel legs and 3 trailing wheels, 3 it is described after wheel legs and 3
The trailing wheel is set around the axisymmetrical of the drive shell respectively.
Optionally, 3 rear wheel legs are connected with 3 middle wheel legs using the regulating arm respectively.
Optionally, the support arm is connected with the leading screw of reducing regulation back header, and the reducing adjusts back header
The other end and the reducing regulation pretectum of leading screw be connected, the leading screw of the reducing regulation back header is adjusted with the reducing
Section pretectum is connected using the clamping flexible sheet shaft coupling.
Beneficial effects of the present invention are as follows：
The embodiment of the present invention provides a kind of detection robot for petroleum pipeline, including power module, reducing adjustment module and drive
Dynamic model block, power module include battery compartment base, battery compartment shell, battery compartment top cover, preceding wheel leg, front-wheel；Reducing adjustment module
Slided including reducing adjusting base, reducing adjustment housings, reducing regulation pretectum, reducing regulation back header, support arm, variable-diameter structure
Moving part, middle wheel leg and middle wheel；Drive module include driving preceding base, driving rear base, drive shell, driving top cover, rear wheel leg,
Trailing wheel, first gear, second gear, the 3rd gear, turbine, worm screw, drive system；Wherein, rear wheel leg is used with middle wheel leg and adjusted
Joint arm is connected；I.e. the detection robot for petroleum pipeline of the embodiment of the present invention is divided into independent power module on the whole, reducing is adjusted
Module and drive module three parts are saved, individually can be updated and replace, facilitate the petroleum pipeline of the embodiment of the present invention to detect
The later maintenance and maintenance of robot；Secondly, circle is integrally presented in detection robot for petroleum pipeline, and is provided with independent work(
Can module and drive module, can the free movement in petroleum pipeline, realized in the case where not producing large-scale damage road surface
Petroleum pipeline is detected and repaired, effectively avoids environmental pollution caused by oil pipe leakage；Furthermore the stone of the embodiment of the present invention
Oil-piping detection robot is provided with reducing adjustment module, can be implemented according to the big minor adjustment present invention of Awaiting Overhaul petroleum pipeline
The external diameter size of the detection robot for petroleum pipeline of example, realize the detection robot for petroleum pipeline of the embodiment of the present invention for a variety of
The detection and maintenance of the petroleum pipeline of different tube diameters, reduce detection and the maintenance cost of petroleum pipeline.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, make required in being described below to embodiment
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of structural representation of detection robot for petroleum pipeline of the embodiment of the present invention；
Fig. 2 is the complete section structural representation of the detection robot for petroleum pipeline of the embodiment of the present invention；
Fig. 3 is the side structure schematic view of the detection robot for petroleum pipeline of the embodiment of the present invention；
Fig. 4 is the structural representation of the battery compartment base of the embodiment of the present invention；
Fig. 5 is the structural representation of the reducing adjusting base of the embodiment of the present invention；
Fig. 6 is that the reducing with leading screw of the embodiment of the present invention adjusts the structural representation of back header；
Fig. 7 is the structural representation of the variable-diameter structure sliding part of the embodiment of the present invention；
Fig. 8 be the embodiment of the present invention driving before base structural representation；
Fig. 9 is the structural representation of the driving rear base of the embodiment of the present invention；
Figure 10 is the turbine and worm screw connection diagram of the embodiment of the present invention.
Embodiment
In order that the object, technical solutions and advantages of the present invention are clearer, the present invention is made below in conjunction with accompanying drawing into
One step it is described in detail, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole implementation
Example.Based on the embodiment in the present invention, what those of ordinary skill in the art were obtained under the premise of creative work is not made
All other embodiment, belongs to the scope of protection of the invention.
Term " first ", " second ", " the 3rd " in description and claims of this specification and above-mentioned accompanying drawing, "
Four ", " the 5th ", " the 6th ", " the 7th " and (if present)s such as " the 8 " are for distinguishing similar object, without for retouching
State specific order or precedence.It should be appreciated that the data so used can exchange in the appropriate case, to retouch here
The embodiments of the invention stated can for example be implemented with the order in addition to those for illustrating or describing herein.
Petroleum pipeline is detected and repaired in the case where not producing large-scale damage road surface realizing, is effectively avoided
Environmental pollution caused by oil pipe is revealed, the embodiment of the present invention provide a kind of detection robot for petroleum pipeline, including power module, change
Footpath adjustment module and drive module, wherein, power module is located at the front portion of detection robot for petroleum pipeline, reducing adjustment module position
In the middle part of detection robot for petroleum pipeline, drive module is located at the afterbody of detection robot for petroleum pipeline；Power module includes
Battery compartment base, battery compartment shell, battery compartment top cover, the preceding wheel leg being fixed on battery compartment base, in preceding wheel leg
Front-wheel；Reducing adjustment module includes reducing adjusting base, the reducing adjustment housings on reducing adjusting base, installed in change
Reducing regulation pretectum in the adjustment housings of footpath, the reducing regulation back header with leading screw, it is arranged on inside reducing adjustment housings
Support arm, be arranged on inside reducing adjustment housings variable-diameter structure sliding part, the middle wheel leg on reducing adjusting base
With the middle wheel in middle wheel leg；Drive module include driving before base, with drive before base mutually fix driving rear base,
It is arranged on base and the drive shell on driving rear base, the driving top cover in drive shell before driving, installed in drive
Rear wheel leg on dynamic rear base, the trailing wheel in rear wheel leg, the first gear being connected with the drive shaft of trailing wheel and first
The second gear of gear connection, the 3rd gear being connected with second gear, the turbine being connected with the 3rd gear and turbine phase
The worm screw of connection, the drive system being connected with worm screw；Wheel leg is connected with middle wheel leg using regulating arm afterwards；The embodiment of the present invention
Detection robot for petroleum pipeline be divided into independent power module, reducing adjustment module and drive module three parts on the whole, can
To be individually updated and replace, facilitate the later maintenance and maintenance of the detection robot for petroleum pipeline of the embodiment of the present invention；Its
Secondary, circle is integrally presented in detection robot for petroleum pipeline, and is provided with independent functional module and drive module, can be in stone
Free movement in oil-piping, realized in the case of not large-scale damage road surface and petroleum pipeline is detected and repaired, effectively
Environmental pollution caused by avoiding oil pipe leakage；Furthermore the detection robot for petroleum pipeline of the embodiment of the present invention is provided with reducing tune
Module is saved, can be according to the external diameter of the detection robot for petroleum pipeline of the big minor adjustment embodiment of the present invention of Awaiting Overhaul petroleum pipeline
Size, realize that the detection robot for petroleum pipeline of the embodiment of the present invention is used for detection and the dimension of the petroleum pipeline of a variety of different tube diameters
Repair, reduce detection and the maintenance cost of petroleum pipeline.
A kind of detection robot for petroleum pipeline of the embodiment of the present invention is carried out below in conjunction with 1~accompanying drawing of accompanying drawing 10 detailed
Explanation.
With reference to shown in figure 1, Fig. 2 and Fig. 3, the detection robot for petroleum pipeline of the embodiment of the present invention include power module 100,
Reducing adjustment module 200 and drive module 300, wherein, power module 100 is located at the front portion of detection robot for petroleum pipeline, becomes
Footpath adjustment module 200 is located at the middle part of detection robot for petroleum pipeline, and drive module 300 is located at detection robot for petroleum pipeline
Afterbody.With reference to shown in figure 1, Fig. 2 and Fig. 3, power module 100 is connected with reducing adjustment module 200 using dual cardan type U-joint 400
Connect, reducing adjustment module 200 is connected with drive module 400 using dual cardan type U-joint 400.
Specifically, power module 100 is connected with one end of reducing adjustment module 200 using the first dual cardan type U-joint,
The other end of reducing adjustment module 200 is connected with drive module 400 using dual cardan type U-joint.That is the stone of the embodiment of the present invention
Oil-piping detection robot is divided into independent power module, reducing adjustment module and drive module three parts, Ke Yidan on the whole
Any one module for being solely updated and replacing in power module, reducing adjustment module and drive module three parts, conveniently originally
The later maintenance and maintenance of the detection robot for petroleum pipeline of inventive embodiments.
Further, with reference to shown in figure 1 and Fig. 2, power module 100 include battery compartment base 101, battery compartment shell 102,
Battery compartment top cover 103, the preceding wheel leg 104 being fixed on battery compartment base 101, the front-wheel 105 in preceding wheel leg 104.Its
In, battery compartment shell 102 is removably mounted at battery compartment base 101, and battery compartment top cover 103 is removably mounted at battery compartment shell
102, and battery is installed in the inside of battery compartment shell 102, for the petroleum pipeline detection machine for the embodiment of the present invention
Device people provides walking power, it is possible to prevente effectively from using cable as its function, it is no longer necessary to which cable can avoid cable from dragging band
The frictional force and length limitation come, realize long range of the detection robot for petroleum pipeline of the embodiment of the present invention in petroleum pipeline
Transport and detection.When needing to change battery, battery compartment top cover 103 and battery compartment shell 102 can be directly taken apart, directly more
Change battery.
With reference to shown in figure 4, it is provided with the battery compartment base 101 of the embodiment of the present invention for dual cardan type U-joint 400
First through hole 1011 and the first breach 1012 for installing battery compartment shell 102, wherein, first through hole is located at battery compartment base
101 center, the first breach 1012 are located at the edge of battery compartment base 101.Specifically, 3 are provided with battery compartment base 101
First breach 1012, wherein, 3 the first breach 1012 are uniformly arranged around the axis of battery compartment base 101, specifically, 3 the
One breach 1012 is mutually 120 ° of settings around the axis of battery compartment base 101.
With reference to shown in figure 1, Fig. 2 and Fig. 3, power module 100 includes 105,3 front-wheels of 3 preceding wheel legs 104 and 3 front-wheels
105 and 3 preceding wheel legs 104 are uniformly arranged around the axis of battery compartment shell 102.Wherein, one is installed in each preceding wheel leg 104
Individual 105,3 preceding wheel legs 104 of front-wheel are mutually 120 ° of settings around the axis of battery compartment shell 102, symmetry can be utilized to offset
Caused unbalanced couple in detection robot for petroleum pipeline motion process, makes the operation of pipe robot have more stationarity.
In the motion process of pipe robot, contact of the front-wheel with tube wall provides normal pressure, makes whole pipeline so as to produce frictional force
Robot moves ahead according to predetermined direction.
With reference to shown in figure 1, Fig. 2 and Fig. 3, reducing adjustment module 200 includes reducing adjusting base 201, adjusted installed in reducing
Reducing adjustment housings 202 on section base 201, the reducing regulation pretectum 203 in reducing adjustment housings 202, carry
The reducing regulation back header 204 of leading screw, the support arm 205 being arranged on inside reducing adjustment housings 202, it is arranged on reducing regulation shell
Variable-diameter structure sliding part 206 inside body 202, the middle wheel leg 207 on reducing adjusting base 201 and installed in middle wheel leg
Middle wheel 208 on 207.
With reference to shown in figure 5, it is provided with the reducing adjusting base 201 of the embodiment of the present invention for dual cardan type U-joint 400
The second through hole 2011 and the second breach 2012 for installing reducing adjustment housings 202, wherein, the second through hole 2011 is positioned at becoming
The center of footpath adjusting base 201, the second breach 2012 are located at the edge of reducing adjusting base 201.Specifically, reducing adjusting base
3 the second breach 2012 are provided with 201, wherein, 3 the second breach 2012 are uniform around the axis of reducing adjusting base 201
Set, specifically, 3 the second breach 2012 are mutually 120 ° of settings around the axis of reducing adjusting base 201.
With reference to shown in figure 6, the back header and leading screw of the reducing regulation back header 204 with leading screw are arranged concentrically, wherein, after
Top cover and leading screw interfix.
With reference to shown in figure 1, Fig. 2 and Fig. 3, reducing adjustment module 200 includes taking turns 208,3 in 3 middle wheel legs 207 and 3
Wheel 208 is uniformly arranged around the axis of reducing adjustment housings 202 in middle wheel leg 207 and 3.Wherein, in each in wheel leg 207
208,3 middle wheel legs 207 are taken turns in installation one and are mutually 120 ° of setting around the axis of reducing adjustment housings 202, can using pair
Title property offsets caused unbalanced couple in detection robot for petroleum pipeline motion process, makes the operation of pipe robot more flat
Stability.In the motion process of pipe robot, contact of the front-wheel with tube wall provides normal pressure, so as to produce frictional force make it is whole
Individual pipe robot moves ahead according to predetermined direction.
With reference to shown in figure 1, Fig. 2 and Fig. 3, support arm 205 and variable-diameter structure sliding part 206 are arranged on reducing adjustment housings
Inside 202, wherein, support arm 205 is connected with variable-diameter structure sliding part 206.With reference to shown in figure 7, variable-diameter structure sliding part 206
On be provided with regulation otic placode 2061 for wheel leg in connection 207, wherein, 3 regulations are provided with variable-diameter structure sliding part 206
Central axis of 2061, the 3 regulation otic placodes 2061 of otic placode along variable-diameter structure sliding part 206 is mutually 120 ° and is symmetrical arranged.Reference chart
1st, shown in Fig. 2, Fig. 3 and Fig. 7, each regulation otic placode 2061 is connected with a middle wheel leg 207, relative for wheel leg in change
The angle of the central axis of variable-diameter structure sliding part 206, realize wheel to the distance of the central axis of variable-diameter structure sliding part 206
Regulation, ensure that the detection robot for petroleum pipeline of the embodiment of the present invention can be according to the big minor adjustment sheet of Awaiting Overhaul petroleum pipeline
The external diameter size of the detection robot for petroleum pipeline of inventive embodiments, realize the detection robot for petroleum pipeline of the embodiment of the present invention
For the detection and maintenance of the petroleum pipeline of a variety of different tube diameters, detection and the maintenance cost of petroleum pipeline are reduced.
With reference to shown in figure 1, Fig. 2 and Fig. 3, drive module 300 includes base 301 before driving, consolidated with the phase of base 301 before driving
Fixed driving rear base 302, it is arranged on base 301 before driving and the drive shell 303 on driving rear base 302, installed in drive
Top cover 304, the rear wheel leg 305 on driving rear base 302 are driven on dynamic housing 303, in rear wheel leg 305
Trailing wheel 306, the first gear 307 being connected with the drive shaft of trailing wheel 306, the second gear 308 being connected with first gear 307,
The 3rd gear 309 that is connected with second gear 308, the turbine 310 being connected with the 3rd gear 309, it is connected with turbine 310
Worm screw 311, the drive system 312 that is connected with worm screw 311.
With reference to shown in figure 1 and Fig. 2, rear wheel leg 305 is connected with middle wheel leg 207 using regulating arm 500.The embodiment of the present invention
Rear wheel leg 305 mutually linked in the presence of regulating arm 500 with middle wheel leg 207, i.e., the embodiment of the present invention petroleum pipeline inspection
The trailing wheel 306 and middle wheel 208 for surveying robot are driving wheel, and the petroleum pipeline of the embodiment of the present invention is realized under the drive of a motor
Detect walking of the robot in petroleum pipeline in road.
With reference to shown in figure 9, the He of third through-hole 3021 being provided with rear base 302 for dual cardan type U-joint 400 is driven
For installing the 3rd breach 3022 of drive shell 303, wherein, third through-hole 3021 is located at the center of driving rear base 302, the
Three breach 3022 are positioned at the edge of driving rear base 302.Specifically, it is provided with 3 the 3rd breach on driving rear base 302
3022, wherein, 3 the 3rd breach 3022 are uniformly arranged around the axis of driving rear base 302, specifically, 3 the 3rd breach
3022 axis for surrounding driving rear base 302 are mutually 120 ° of settings.
The 4th breach 3011 for installing drive shell 303 is provided with base 301 with reference to shown in figure 8, before driving, its
In, 3 the 4th breach 3011 are provided with before driving on base 301, wherein, 3 the 4th breach 3011 base 301 before driving
Axis be uniformly arranged, specifically, 3 the 4th breach 3011 axis of base 301 before driving is mutually 120 ° of settings.
With reference to shown in figure 1, Fig. 2, Fig. 3 and Figure 10, turbine 310 and worm screw 311 cooperate, wherein, worm screw 311 is arranged on
Inside turbine 310, first gear 307 and second gear 308 cooperate, second gear 308 and the phase interworking of the 3rd gear 309
Close, the 3rd gear 309 and turbine 310 cooperate.Drive system 312 is motor, under the drive of motor, by turbine 310,
Worm screw 311, first gear 307, second gear 308, first gear 307 and second gear 308 drive under, wheel leg after driving
305 motions, and then realize the motion of trailing wheel 306.
The detection robot for petroleum pipeline of the embodiment of the present invention realizes petroleum pipeline using the driving wheel being circumferentially uniformly arranged
Detect movement of the robot in petroleum pipeline, compared with common dead-beat detecting robot of pipe, optimize driving wheel with
Stressing conditions between petroleum pipeline, increase with the contact area of pipeline to strengthen the stable of detection robot for petroleum pipeline
Property.
Secondly, after 3 of the detection robot for petroleum pipeline of the embodiment of the present invention wheel leg 305 respectively with 3 middle wheel legs 207
It is connected using regulating arm 500.I.e. the detection robot for petroleum pipeline of the embodiment of the present invention is using single motor-driven power side
Formula and wheel type walking manner are combined the movement for realizing detection robot for petroleum pipeline in petroleum pipeline, single motor driving knot
Structure is simple, and it is convenient to place, and saves space, and easily controllable, it is only necessary to it is whole that the control of order can is sent to a motor
The motion of individual detection robot for petroleum pipeline.
With reference to figure 1, Fig. 2 and Fig. 3, worm screw 311 and drive system 312 are connected using flexible sheet shaft coupling is clamped；Branch
Brace 205 is connected with the leading screw of reducing regulation back header 204, the other end and reducing of the leading screw of reducing regulation back header 204
Regulation pretectum 203 is connected, and the leading screw of reducing regulation back header 204 uses with reducing regulation pretectum 203 clamps elastic membrane
Piece shaft coupling is connected.The detection robot for petroleum pipeline of the embodiment of the present invention uses rigidly connected turbine and worm screw, fully
It make use of the big speed ratio of turbine and worm screw poor, while the gear for being used cooperatively close steps difference coordinates transmission, reduces this
The overall volume of the detection robot for petroleum pipeline of inventive embodiments, realize the detection robot for petroleum pipeline of wheel type driving
It can be moved in petroleum pipeline.
After the detection robot for petroleum pipeline of the embodiment of the present invention is coordinated using a turbine and gear, it is transferred to and gear
On another gear of engagement, on next gear is transferred to, processes and calculate for convenience, the oil of the embodiment of the present invention
Three gears of detecting robot of pipe use identical modulus and the number of teeth, and wheel is distributed in the two of last gear hub
Side.
The embodiment of the present invention provides a kind of detection robot for petroleum pipeline, including power module, reducing adjustment module and drive
Dynamic model block, power module include battery compartment base, battery compartment shell, battery compartment top cover, preceding wheel leg, front-wheel；Reducing adjustment module
Slided including reducing adjusting base, reducing adjustment housings, reducing regulation pretectum, reducing regulation back header, support arm, variable-diameter structure
Moving part, middle wheel leg and middle wheel；Drive module include driving preceding base, driving rear base, drive shell, driving top cover, rear wheel leg,
Trailing wheel, first gear, second gear, the 3rd gear, turbine, worm screw, drive system；Wherein, rear wheel leg is used with middle wheel leg and adjusted
Joint arm is connected；I.e. the detection robot for petroleum pipeline of the embodiment of the present invention is divided into independent power module on the whole, reducing is adjusted
Module and drive module three parts are saved, individually can be updated and replace, facilitate the petroleum pipeline of the embodiment of the present invention to detect
The later maintenance and maintenance of robot；Secondly, circle is integrally presented in detection robot for petroleum pipeline, and is provided with independent work(
Can module and drive module, can the free movement in petroleum pipeline, realized in the case where not producing large-scale damage road surface
Petroleum pipeline is detected and repaired, effectively avoids environmental pollution caused by oil pipe leakage；Furthermore the stone of the embodiment of the present invention
Oil-piping detection robot is provided with reducing adjustment module, can be implemented according to the big minor adjustment present invention of Awaiting Overhaul petroleum pipeline
The external diameter size of the detection robot for petroleum pipeline of example, realize the detection robot for petroleum pipeline of the embodiment of the present invention for a variety of
The detection and maintenance of the petroleum pipeline of different tube diameters, reduce detection and the maintenance cost of petroleum pipeline.
Obviously, those skilled in the art can carry out various changes and modification without departing from this hair to the embodiment of the present invention
The spirit and scope of bright embodiment.So, if these modifications and variations of the embodiment of the present invention belong to the claims in the present invention
And its within the scope of equivalent technologies, then the present invention is also intended to comprising including these changes and modification.
Claims (8)
1. a kind of detection robot for petroleum pipeline, it is characterised in that the detection robot for petroleum pipeline includes power module, become
Footpath adjustment module and drive module, wherein, the power module is located at the front portion of the detection robot for petroleum pipeline, the change
Footpath adjustment module is located at the middle part of the detection robot for petroleum pipeline, and the drive module is located at the petroleum pipeline detection machine
The afterbody of device people；The power module includes battery compartment base, battery compartment shell, battery compartment top cover, is fixed on the battery compartment
Preceding wheel leg on base, the front-wheel in the preceding wheel leg；The reducing adjustment module includes reducing adjusting base, installation
Reducing adjustment housings on the reducing adjusting base, the reducing in the reducing adjustment housings regulation pretectum,
Reducing regulation back header with leading screw, the support arm being arranged on inside the reducing adjustment housings, it is arranged on the reducing tune
Save the variable-diameter structure sliding part of enclosure interior, the middle wheel leg on the reducing adjusting base and installed in the middle wheel leg
On middle wheel；The drive module include driving before base, mutually fixed with base before the driving driving rear base, be arranged on
Base and the drive shell on the driving rear base, the driving top cover in the drive shell, peace before the driving
It is connected mounted in the rear wheel leg driven on rear base, installed in the trailing wheel in wheel leg afterwards, with the drive shaft of the trailing wheel
The first gear that connects, the second gear being connected with the first gear, the 3rd gear being connected with the second gear and institute
The worm screw for state turbine that the 3rd gear is connected, being connected with the turbine, the drive system being connected with the worm screw；It is described
Wheel leg is connected with the middle wheel leg using regulating arm afterwards.
2. detection robot for petroleum pipeline according to claim 1, it is characterised in that the power module and the reducing
Adjustment module is connected using dual cardan type U-joint, and the reducing adjustment module uses dual cardan type U-joint with the drive module
It is connected.
3. detection robot for petroleum pipeline according to claim 1, it is characterised in that the worm screw and the drive system
It is connected using flexible sheet shaft coupling is clamped.
4. according to the detection robot for petroleum pipeline described in any one of claims 1 to 3, it is characterised in that the power module
Including 3 preceding wheel legs and 3 front-wheels, the axis of 3 front-wheels and 3 front-wheel calf circumferences around the battery compartment shell
It is uniformly arranged.
5. according to the detection robot for petroleum pipeline described in any one of claims 1 to 3, it is characterised in that the reducing regulation
Module includes 3 middle wheel legs and 3 middle wheels, and 3 middle wheel legs and 3 middle wheels surround the reducing respectively
The axisymmetrical of adjustment housings is set.
6. according to the detection robot for petroleum pipeline described in any one of claims 1 to 3, it is characterised in that the drive module
Including 3 rear wheel legs and 3 trailing wheels, 3 rear wheel legs and 3 trailing wheels surround the drive shell respectively
Axisymmetrical set.
7. detection robot for petroleum pipeline according to claim 6, it is characterised in that 3 it is described after wheel legs respectively with 3
The middle wheel leg is connected using the regulating arm.
8. detection robot for petroleum pipeline according to claim 6, it is characterised in that the support arm is adjusted with the reducing
The leading screw of section back header is connected, and the other end of the leading screw of the reducing regulation back header is connected with reducing regulation pretectum
Connect, the leading screw of the reducing regulation back header is connected with reducing regulation pretectum using the clamping flexible sheet shaft coupling
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772429.6A CN107543010B (en) | 2017-08-31 | 2017-08-31 | A kind of detection robot for petroleum pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710772429.6A CN107543010B (en) | 2017-08-31 | 2017-08-31 | A kind of detection robot for petroleum pipeline |
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| Publication Number | Publication Date |
|---|---|
| CN107543010A true CN107543010A (en) | 2018-01-05 |
| CN107543010B CN107543010B (en) | 2019-05-07 |
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|---|---|---|---|
| CN201710772429.6A Expired - Fee Related CN107543010B (en) | 2017-08-31 | 2017-08-31 | A kind of detection robot for petroleum pipeline |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533886A (en) * | 2018-03-20 | 2018-09-14 | 王栋良 | A kind of petroleum pipeline repair apparatus |
| CN108899810A (en) * | 2018-08-23 | 2018-11-27 | 国家电网有限公司 | A kind of cable preheating embedding line running gear |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
| CN112682701A (en) * | 2020-12-02 | 2021-04-20 | 无锡工艺职业技术学院 | Pollution inspection robot for underwater pipeline |
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| DE3730315A1 (en) * | 1987-09-10 | 1989-03-30 | Guenter Rogalski | Process and apparatus for repairing sewer pipes |
| JP2006068739A (en) * | 2004-09-02 | 2006-03-16 | Pii Canada Ltd | Device for transferring pig through conduit such as pipeline |
| DE102011008416A1 (en) * | 2011-01-12 | 2012-07-12 | Kahmann GmbH | Pipe inspection unit e.g. digital camera, for inspecting wastewater pipes, has shut-off device closing individual pipe sections and supply conduit, provided at distance from swingably connected modules and placed on supply conduit |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108533886A (en) * | 2018-03-20 | 2018-09-14 | 王栋良 | A kind of petroleum pipeline repair apparatus |
| CN108899810A (en) * | 2018-08-23 | 2018-11-27 | 国家电网有限公司 | A kind of cable preheating embedding line running gear |
| CN108899810B (en) * | 2018-08-23 | 2023-08-11 | 国家电网有限公司 | Cable pre-buried pipeline running gear |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
| CN112682701A (en) * | 2020-12-02 | 2021-04-20 | 无锡工艺职业技术学院 | Pollution inspection robot for underwater pipeline |
| CN112682701B (en) * | 2020-12-02 | 2022-09-02 | 无锡工艺职业技术学院 | Pollution inspection robot for underwater pipeline |
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|---|---|
| CN107543010B (en) | 2019-05-07 |
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