CN108331998A - A kind of caliber regulating mechanism - Google Patents
A kind of caliber regulating mechanism Download PDFInfo
- Publication number
- CN108331998A CN108331998A CN201810291349.3A CN201810291349A CN108331998A CN 108331998 A CN108331998 A CN 108331998A CN 201810291349 A CN201810291349 A CN 201810291349A CN 108331998 A CN108331998 A CN 108331998A
- Authority
- CN
- China
- Prior art keywords
- screw
- detection device
- regulating mechanism
- caliber
- oscillating bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- 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
-
- 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)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
Abstract
The present invention relates to a kind of caliber regulating mechanism, including two groups of structures it is essentially identical, be arranged symmetrically in the radial adjustment device of detection device both sides, be all made of screw pair driving space and be separated by 120 ° of three groups of parallel connection link mechanisms to realize reducing；The screw pitch and rotation direction all same of leading screw and opposite installation in two groups of radial adjustment devices, and synchronous rotary is achieved the purpose that by the mutual cooperation between connecting end surface convex platform and groove.Caliber regulating mechanism provided by the invention can adapt to a certain range of caliber change, and each support wheel can independently surmount obstacles without influencing integrally-built stability, its operating environment adaptability is made to greatly enhance；Stable support can be provided for rotary pipeline detection device, obstruction detection device existing in the prior art rotates and detection device is easy to happen the problems such as posture is abnormal to effectively overcome；It is simple in structure and be conveniently adjusted；It can also be used in the pipeline rotary operation machine people that other need reducing.
Description
Technical field
The present invention relates to pipeline robot technique fields, and the caliber tune of detection robot is rotated more particularly to a kind of pipeline
Save mechanism.
Background technology
Detecting robot of pipe refers to being detected to situations such as pipeline inside burn into crackle by means of certain detection device
Robot.For industrial pipeline, robot is more suitable for using the inspection for not needing couplant, non-contact measurement can be achieved
Survey method.However in detection process, the attitudes vibration of the distance between probe and tube wall and probe all can be to measurement result
It has an impact.In addition, the diameter of tested pipeline is frequently not single size, therefore detecting robot of pipe usually utilizes leading screw spiral shell
Female pair drives parallel linkage to realize reducing function to improve its caliber adaptability.Such as Shanghai Communications University Zhang Yun it is big in
A kind of city is proposed in doctoral thesis " gas pipeline inspection robot system and its movement control technology research " at him in 2007
City's gas pipeline inspection robot, in order to adapt to the caliber range of 400 ~ 650mm of Φ, walking mechanism is used by ball-screw spiral shell
Female pair drives three groups of symmetrical parallel linkages in 120 ° of space to realize the functions such as walking and caliber adaptation, in master connecting-rod
It is kept in contact with tube wall with a support wheel is respectively installed on slave connecting rod, and carries the fixed detection device arrangement of 32 groups of probes
Before walking mechanism.In order to reduce probe quantity to simplify overall structure, detection device can be used and carry a small amount of probe simultaneously
The mode persistently rotated circumferentially detects to complete tube wall.However under rotation status, detection device is easier that posture exception occurs,
Therefore rotary pipeline detection device can obtain stablize support it is then more important, if still use parallel rod diameter changing mechanism,
And be arranged among parallel linkage for the purpose for stablizing support, then horizon bar will certainly interfere its rotation；If
It is arranged in the outside of parallel linkage, it is likely that it is inclined that posture occurs in operation process due to a lack of stable support
Tiltedly, this accuracy that will seriously affect measurement result.
In addition, the big proposition of Zhang Yun city gas pipeline detect robot on ball-screw, in feed screw nut and axle sleeve
Between be added spring as flexible supporting unit, to realize automatic adjusument when encountering obstacle.Due to parallel linkage
In be rigid connection between each rod piece, once a support wheel meet the when of hindering position change occurs if can affect entire mechanism one
It changes.Then, associated support wheel is detached from the contact with tube wall together, could be pasted again with tube wall together after surmounting obstacles
It closes.It will be apparent that the obstacle detouring stability of the robot is poor.
Invention content
It is an object of the invention to be directed to shortcoming existing for background technology, supporting pipeline rotation can be stablized by providing one kind
Turn detection device without interfering its rotation, and each support wheel can independently implement the caliber adaptively adjusted adjusting in obstacle detouring
Mechanism.
For this purpose, the present invention uses following technical scheme：
A kind of caliber regulating mechanism, including structure it is essentially identical, be arranged symmetrically in 8 both sides of detection device preposition radiai adjustment dress
Set with postposition radial adjustment device, be all made of screw pair drive three groups of circumferentially uniformly distributed link mechanisms in parallel come realize become
Diameter, the parallel connection link mechanism include flexible push rod 3 and wheel leg 2, and the flexible push rod 3 includes Buffer Unit 31, oscillating bearing
32 and oscillating bearing 33, and by the oscillating bearing 32 and the oscillating bearing 33 respectively with the wheel leg 2 and feed screw nut 6
It is hinged；The wheel leg 2 is hinged with connects bearing 7, and end is in contact equipped with support wheel 1 with tube wall.
Further technical solution, the adjusting screw 4 in the preposition radial adjustment device and the postposition radiai adjustment
The screw pitch and rotation direction all same and opposite installation, 4 left end of the adjusting screw of connection leading screw 5 in device are machined with boss and are used for
Fit depressions with connection 5 right end of leading screw are to realize synchronous rotary.
Further technical solution, the Buffer Unit 31 are 311 sleeve of piston, 313 structure, and outer cover is equipped with spring
312, the piston 311 is connected with the oscillating bearing 32, and the sleeve 313 is connected with the oscillating bearing 33.
Above-mentioned technical proposal is used, compared with prior art, the present invention advantage is：Two groups of radial adjustment device energy
Enough synchronous diameters, and the rotary operation space of pipe robot detection device is not take up so that it can be freely rotatable, while energy
Enough steadily support detection devices, make it remain normal posture, it is ensured that testing result is accurate and reliable；Every group of parallel connection connecting rod
Structure is provided with flexible push rod, therefore each support wheel can independently implement oneself of itself radial position when encountering obstacle
Adjustment is adapted to, without involving other wheels, improves the active obstacle ability of robot, and substantially increase integrally-built
Stability makes its operating environment adaptability further enhance.
Description of the drawings
Fig. 1 is the general structure schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of flexible push rod in the present invention.
Fig. 3 is the assembling schematic diagram of caliber regulating mechanism and detection device in the embodiment of the present invention 1.
Fig. 4 is the right view of Fig. 3.
Fig. 5 is the A-A sectional views of Fig. 4.
Wherein, 1, support wheel；2, wheel leg；3, flexible push rod；31, Buffer Unit；311, piston；312, spring；313, it covers
Cylinder；314, connecting flange；32, oscillating bearing；33, oscillating bearing；4, adjusting screw；5, leading screw is connected；6, feed screw nut；7, even
Connect bearing；8, detection device；9, handwheel is adjusted；10, connecting rod；11, link block；12, connecting plate；13, bushing is positioned；14, axis
It holds；15, center installation sleeve；16, bearing；17, bearing.
Specific implementation mode
Below in conjunction with the accompanying drawings and specific embodiment, the present invention is described in further details, but the present invention is not limited to this
A little embodiments.
Embodiment 1
As shown in Fig. 1, Fig. 3, Fig. 4, a kind of caliber regulating mechanism, including structure it is essentially identical, be arranged symmetrically in 8 liang of detection device
The preposition radial adjustment device and postposition radial adjustment device of side are all made of screw pair and drive three groups of circumferentially uniformly distributed parallel connections
Link mechanism realizes that reducing, this separated type structure overcome planar linkage mechanism and counteracted to detection device rotary motion
The problem of so that detection device 8 can be freely rotatable.Every group of parallel connection link mechanism is soft including flexible push rod 3 and wheel leg 2
Property push rod 3 intermediate position be Buffer Unit 31, both ends be respectively oscillating bearing 32 and oscillating bearing 33, flexible push rod 3 passes through
Oscillating bearing 32 and oscillating bearing 33 are hinged with wheel leg 2 and feed screw nut 6 respectively, and wheel leg 2 is hinged with connects bearing 7,
End is in contact equipped with support wheel 1 with tube wall.Feed screw nut 6 is similar with the resemblance of connects bearing 7, is on excircle
Uniformly distributed three holders, each holder are linked together by axis pin and associated components.Adjusting screw 4 in preposition radial adjustment device
Screw pitch and rotation direction all same with the connection leading screw 5 in postposition radial adjustment device and opposite installation, can drive two in this way
Feed screw nut 6 to relative to or opposite direction move, and then by link mechanism in parallel drive support wheel 1 change simultaneously radial position
It sets to achieve the purpose that reducing.The right end of adjusting screw 4 is provided with one section of multi-diameter shaft relative to the left end of connection leading screw 5 more and is used for
Mounting and adjusting handwheel 9.
As shown in Fig. 2, Buffer Unit 31 is 311 sleeve of piston, 313 structure, outer cover is equipped with spring 312.Piston 311
Left end is machined with supporting disk, is to be threadedly coupled between the supporting disk and oscillating bearing 32.313 right end of sleeve is machined with ring flange,
Spring 312 is positioned with together with the supporting disk of 311 left end of piston.The ring flange is connected with connecting flange 314 by bolt
It connects, and connecting flange 314 is linked together by external screw thread and oscillating bearing 33.
As shown in figure 5, for the ease of assembly, entire caliber regulating mechanism uses two short leading screws（Adjusting screw 4 and connection
Leading screw 5）A rather than root long leading screw.It produces relative rotation between the two in order to prevent, the left end of adjusting screw 4 is machined with boss use
The fit depressions for coming and connecting 5 right end of leading screw, to ensure that two leading screws keep synchronizing in rotation.
As shown in figure 3, in a particular application, caliber regulating mechanism is assembled with detection device 8 to constitute an entirety.
Connects bearing 7 is connected by bolt with connecting plate 12, and connecting plate 12 has also been evenly distributed with 4 holes in the position close to four angles and has been used for
Connecting rod 10 is installed, the inner end of connecting rod 10 screws in the threaded hole of 11 outer end face of link block, and outer end then passes through connecting plate 12
On hole, finally locked using nut.
As shown in figure 5, in order to realize that low friction rotates, detection device 8 is mounted on center installation sleeve 15 by bearing 16
On, and axially position is realized by link block 11.Link block 11 is connected by screw together with center installation sleeve 15.Adjustment
Leading screw 4 and connection leading screw 5 are supported by bearing 14 and bearing 17, and bearing 14 is mounted on the central stepped of connects bearing 7
In, bearing 17 is mounted in center installation sleeve 15, and positioned at the both sides of positioning bushing 13, the inner side end of outer ring and outside
End face is in contact with positioning bushing 13 and link block 11 respectively, the outer end face of inner ring and adjusting screw 4 and the axis connecting on leading screw 5
Ring is in contact.
The operation principle of caliber regulating mechanism is as follows：In the case of known tested pipeline diameter, rotation first adjusts hand
Wheel 9 is allowed to that adjusting screw 4 is driven to rotate.Due to adjusting screw 4 with connect at the connecting end surface of leading screw 5 be respectively equipped with boss and
Groove is cooperated with realizing, then adjusting screw 4 drives connection leading screw 5 to rotate synchronously again.Due to adjusting screw 4 and connecting filament
The rotation direction of thick stick 5 is identical and installs relatively, then the feed screw nut 6 being mounted on two leading screws carries out opposite or reverse movement, and passes through
Flexible push rod 3 drives the opening angle of wheel leg 2 to change, until six support wheels 1 of the left and right sides are formed by theoretical circle
Until when diameter is consistent with caliber, support wheel 1 fits with tube wall, that is, realize reducing function.In detection process, if
Some support wheel 1 encounters obstacle, then 2 opening angle of corresponding wheel leg becomes smaller, and compressed flexible push rod 3, is allowed to be able to smoothly
Pass through obstacle.After surmounting obstacles, the length of flexible push rod 3 is restored automatically, drive wheel leg 2 open, make support wheel 1 again with pipe
Road inner wall is kept in contact.During entire adaptive adjustment, other support wheels 1 will not be affected and always with pipe
Wall pressure is tight.
Embodiment 2
Caliber regulating mechanism in the present embodiment and the structure in embodiment 1 are essentially identical, the difference is that adjusting screw 4 is right
It holds not mounting and adjusting handwheel 9 but is connected with motor, and resistance strain gage is arranged on support wheel 1.Therefore, entire machine
Structure realizes that caliber automatically adjusts under the driving of motor.When resistance strain gage detects that the pressure between support wheel 1 and tube wall reaches
When to desired value, motor stops operating.In this way, also can be real in the case where the specific size of pipe diameter can not be known in advance
Apply reducing adjusting.
The present invention is in addition to being used for pipeline rotation detection robot, it may also be used for other need the pipeline rotary operation of reducing
（Such as pipeline spraying, joint coating on pipeline）In robot.
In the description of the present invention, it is to be understood that, term "center", "left", "right", "inner", "outside", "upper",
The orientation or positional relationship of the instructions such as "lower", "front", "rear" is to be based on the orientation or positional relationship shown in the drawings, merely to just
In the description present invention, simplifying for carrying out describes, and specific side must be had by not indicating or implying the indicated device or element
Position, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.
Claims (3)
1. a kind of caliber regulating mechanism, including structure it is essentially identical, be arranged symmetrically in detection device（8）The preposition radial tune of both sides
Regulating device and postposition radial adjustment device are all made of screw pair and three groups of circumferentially uniformly distributed link mechanisms in parallel are driven to realize
Reducing, the parallel connection link mechanism includes flexible push rod（3）And wheel leg（2）, the wheel leg（2）End be equipped with support wheel（1）
It is in contact with tube wall, which is characterized in that the flexible push rod（3）Including Buffer Unit（31）, oscillating bearing（32）And joint shaft
It holds（33）, and pass through the oscillating bearing（32）With the oscillating bearing（33）Respectively with the wheel leg（2）And feed screw nut（6）
It is hinged；The wheel leg（2）With connects bearing（7）It is hinged.
2. a kind of caliber regulating mechanism according to claim 1, which is characterized in that in the preposition radial adjustment device
Adjusting screw（4）With the connection leading screw in the postposition radial adjustment device（5）Screw pitch and rotation direction all same and opposite installation,
The adjusting screw（4）Left end is machined with boss and is used for and the connection leading screw（5）The fit depressions of right end are to realize synchronization
Rotation.
3. a kind of caliber regulating mechanism according to claim 1, which is characterized in that the Buffer Unit（31）For piston
（311）Sleeve（313）Structure, outer cover are equipped with spring（312）, the piston（311）With the oscillating bearing（32）It is connected
It connects, the sleeve（313）With the oscillating bearing（33）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810291349.3A CN108331998A (en) | 2018-04-03 | 2018-04-03 | A kind of caliber regulating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810291349.3A CN108331998A (en) | 2018-04-03 | 2018-04-03 | A kind of caliber regulating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108331998A true CN108331998A (en) | 2018-07-27 |
Family
ID=62932723
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810291349.3A Withdrawn CN108331998A (en) | 2018-04-03 | 2018-04-03 | A kind of caliber regulating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108331998A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270026A (en) * | 2017-08-08 | 2017-10-20 | 浙江海洋大学 | A kind of mobile device for gas pipeline crusing robot |
| CN109058653A (en) * | 2018-10-26 | 2018-12-21 | 哈尔滨工业大学（威海） | A kind of adaptation detects the composite drive pipe robot of operating condition more |
| CN109126459A (en) * | 2018-09-27 | 2019-01-04 | 赣州蓉江新区高校园区京航汽车零配件销售部 | A kind of vehicle failure maintenance exhaust collection equipment |
| CN109333407A (en) * | 2018-11-22 | 2019-02-15 | 中国化学工程第三建设有限公司 | Pipeline support tool |
| CN109352624A (en) * | 2018-10-16 | 2019-02-19 | 中国矿业大学 | A kind of spiral travelling reducing Pipe-out Robot |
| CN109351725A (en) * | 2018-11-12 | 2019-02-19 | 东莞理工学院 | A kind of pipeline cleaning robot |
| CN109404659A (en) * | 2018-12-25 | 2019-03-01 | 中北大学 | Through ship drive-type tapered pipeline crusing robot |
| CN109916998A (en) * | 2019-03-20 | 2019-06-21 | 中国海洋石油集团有限公司 | Detection device in a kind of marine riser |
| CN110486571A (en) * | 2019-09-03 | 2019-11-22 | 哈尔滨工业大学 | A kind of pipe robot |
| CN110529692A (en) * | 2019-09-06 | 2019-12-03 | 泰安市诺润嘉环保有限公司 | A kind of Multifunctional pipeline robot |
| CN110605727A (en) * | 2019-09-27 | 2019-12-24 | 上海电力大学 | Crawling robot for pipeline maintenance |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
| CN110820897A (en) * | 2019-11-22 | 2020-02-21 | 江苏华淼电子科技有限公司 | Fixing assembly for anti-blocking device of drainage bent pipe |
| CN110873258A (en) * | 2019-11-26 | 2020-03-10 | 四川大学 | Inner wall detection device and inner wall detection system |
| CN112431997A (en) * | 2020-11-20 | 2021-03-02 | 郑州铁路职业技术学院 | Pipeline dislocation prosthetic devices |
| CN113531283A (en) * | 2021-07-12 | 2021-10-22 | 河南工程学院 | Oil pipe inner wall crawling robot |
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| CN105570609A (en) * | 2016-01-29 | 2016-05-11 | 中北大学 | Six-wheel supported type self-adaptation creeping device in pipeline |
| CN105972381A (en) * | 2016-05-05 | 2016-09-28 | 湖北三江航天红阳机电有限公司 | Pipeline interior radiographic inspection robot |
| CN206487989U (en) * | 2016-09-08 | 2017-09-12 | 中国石油大学(华东) | A kind of spiral type pipeline robot of speed self-regulation |
| CN206694733U (en) * | 2017-05-18 | 2017-12-01 | 北京隆科兴非开挖工程股份有限公司 | A kind of pipeline UV solidification mechanical linkage which controls with Telescopic |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107270026B (en) * | 2017-08-08 | 2019-11-05 | 浙江海洋大学 | A kind of mobile device for gas pipeline crusing robot |
| CN107270026A (en) * | 2017-08-08 | 2017-10-20 | 浙江海洋大学 | A kind of mobile device for gas pipeline crusing robot |
| CN109126459A (en) * | 2018-09-27 | 2019-01-04 | 赣州蓉江新区高校园区京航汽车零配件销售部 | A kind of vehicle failure maintenance exhaust collection equipment |
| CN109126459B (en) * | 2018-09-27 | 2020-11-17 | 付安英 | Tail gas collecting equipment for automobile fault maintenance |
| CN109352624B (en) * | 2018-10-16 | 2021-09-28 | 中国矿业大学 | Spiral advancing type variable-diameter pipe outer robot |
| CN109352624A (en) * | 2018-10-16 | 2019-02-19 | 中国矿业大学 | A kind of spiral travelling reducing Pipe-out Robot |
| CN109058653A (en) * | 2018-10-26 | 2018-12-21 | 哈尔滨工业大学（威海） | A kind of adaptation detects the composite drive pipe robot of operating condition more |
| CN109351725A (en) * | 2018-11-12 | 2019-02-19 | 东莞理工学院 | A kind of pipeline cleaning robot |
| CN109333407A (en) * | 2018-11-22 | 2019-02-15 | 中国化学工程第三建设有限公司 | Pipeline support tool |
| CN109404659A (en) * | 2018-12-25 | 2019-03-01 | 中北大学 | Through ship drive-type tapered pipeline crusing robot |
| CN109404659B (en) * | 2018-12-25 | 2023-07-18 | 中北大学 | Straight wheel driving type reducer pipeline inspection robot |
| CN109916998A (en) * | 2019-03-20 | 2019-06-21 | 中国海洋石油集团有限公司 | Detection device in a kind of marine riser |
| CN109916998B (en) * | 2019-03-20 | 2024-05-10 | 中国海洋石油集团有限公司 | Detection device in marine riser |
| CN110486571A (en) * | 2019-09-03 | 2019-11-22 | 哈尔滨工业大学 | A kind of pipe robot |
| CN110529692A (en) * | 2019-09-06 | 2019-12-03 | 泰安市诺润嘉环保有限公司 | A kind of Multifunctional pipeline robot |
| CN110605727A (en) * | 2019-09-27 | 2019-12-24 | 上海电力大学 | Crawling robot for pipeline maintenance |
| CN110820897A (en) * | 2019-11-22 | 2020-02-21 | 江苏华淼电子科技有限公司 | Fixing assembly for anti-blocking device of drainage bent pipe |
| CN110873258A (en) * | 2019-11-26 | 2020-03-10 | 四川大学 | Inner wall detection device and inner wall detection system |
| CN110873258B (en) * | 2019-11-26 | 2024-04-12 | 四川大学 | Inner wall detection device and inner wall detection system |
| CN110762337A (en) * | 2019-11-26 | 2020-02-07 | 四川大学 | Inner wall detection robot and pipeline detection system |
| CN112431997A (en) * | 2020-11-20 | 2021-03-02 | 郑州铁路职业技术学院 | Pipeline dislocation prosthetic devices |
| CN113531283A (en) * | 2021-07-12 | 2021-10-22 | 河南工程学院 | Oil pipe inner wall crawling robot |
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Application publication date: 20180727 |
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| WW01 | Invention patent application withdrawn after publication |