CN109000085A - One kind can turn circular pipe robot - Google Patents
One kind can turn circular pipe robot Download PDFInfo
- Publication number
- CN109000085A CN109000085A CN201710421178.7A CN201710421178A CN109000085A CN 109000085 A CN109000085 A CN 109000085A CN 201710421178 A CN201710421178 A CN 201710421178A CN 109000085 A CN109000085 A CN 109000085A
- Authority
- CN
- China
- Prior art keywords
- wheel
- circular pipe
- hinge
- support bar
- body rack
- 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.)
- Pending
Links
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
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
-
- 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
- F16L55/40—Constructional aspects of the body
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind and can turn circular pipe robot, the robot is made up of two bodies (1) connecting spring (2), wherein body (1) is on body rack (101) equipped with screw rod (105) and screw drive motor (106), travelling nut (104) are housed on screw rod (105), mobile support rod (102) are connected by a hinge on travelling nut (104), wheel support bar (103) is connected by a hinge on body rack (101), mobile support rod (102) are connected by a hinge with wheel support bar (103), wheel (107) and wheel driving motor (108) are mounted on wheel support bar (103), control system is also equipped in body rack (101), the movement of each motor is controlled respectively.
Description
Technical field
The present invention relates to a kind of robot, specifically one kind can turn circular pipe robot.
Background technique
Circular pipe is often used in fields such as chemical industry, petroleum, natural gases and carries out the substances such as conveying oil, gas, but due to pipeline
It is not only elongated, narrow, and there are also bending parts, bring inconvenience to inspection, the cleaning etc. of pipeline, it is therefore desirable to which one kind can turn
Curved circular pipe robot completes these work.
Summary of the invention
It can turn circular pipe robot the object of the present invention is to provide one kind.
Technical solution of the present invention: the circular pipe robot that can turn is by two bodies (1), connecting spring (2) and control
System composition processed, wherein body (1) is by body rack (101), mobile support rod (102), wheel support bar (103), mobile spiral shell
Female (104), screw rod (105), screw drive motor (106), wheel (107), wheel driving motor (108).It is characterized in that: two
Body (1) is made up of connecting spring (2), and wherein body (1) is on body rack (101) equipped with screw rod (105) and screw rod
Driving motor (106) is equipped with travelling nut (104) on screw rod (105), and mobile support rod (102), which are connected by a hinge, to be moved
On dynamic nut (104), wheel support bar (103) is connected by a hinge on body rack (101), mobile support rod (102) with
Wheel support bar (103) is connected by a hinge, and wheel (107) and wheel driving motor (108) are mounted on wheel support bar (103)
On, it is also equipped with control system in body rack (101), controls the movement of each motor respectively.
The utility model has the advantages that this can turn, circular pipe robot architecture is simple, the radial direction of the wheel (107) of two bodies (1)
Working range can adjust separately, and be suitable for a certain range of variable diameter circular pipe and curved circular duct.
Detailed description of the invention
Fig. 1 is can turn circular pipe robot overall structure and the driving schematic diagram.
Fig. 2 is the circular pipe wheels of robot drive part structural schematic diagram that can turn.
Fig. 3 is the circular pipe robot frame three-dimensional figure that can turn.
Fig. 4 is the circular pipe robot entirety three-dimensional figure that can turn.
1-body, 101-body racks, 102-mobile support rods, 103-wheel support bars, 104-travelling nuts,
105-screw rods, 106-screw drive motors, 107-wheels, 108-wheel driving motors, 2-connecting springs, 3-swan-necks
Road part.
Specific embodiment
Specific embodiments of the present invention are described in detail according to Fig. 1 ~ Fig. 3.
The circular pipe robot that can turn is made of two bodies (1), connecting spring (2) and control system, wherein machine
Body (1) by body rack (101), mobile support rod (102), wheel support bar (103), travelling nut (104), screw rod (105),
Screw drive motor (106), wheel (107), wheel driving motor (108).It is characterized in that: two bodies (1) pass through connection bullet
Spring (2) is constituted, and wherein body (1) is equipped with screw rod (105) and screw drive motor (106) on body rack (101), in silk
Travelling nut (104) are housed on bar (105), mobile support rod (102) are connected by a hinge on travelling nut (104), wheel
Support rod (103) is connected by a hinge on body rack (101), and mobile support rod (102) pass through with wheel support bar (103)
Hinge connection, wheel (107) and wheel driving motor (108) are mounted on wheel support bar (103)；In body rack (101)
It is also equipped with control system, controls the movement of each motor respectively.
When robot will work, the robot is put into circular pipe first, then screw drive motor 106 starts work
Make, wheel support bar 103 expands outwardly, and makes to be pressed on circular pipe mounted in wheel 107 on wheel support bar 103, passes through pressure
Force snesor controls wheel 107 to the pressure of circular pipe, and when pressure reaches required value, wheel driving motor 108 starts work
Make, which can move in circular pipe.
If the internal diameter of circular pipe changes in a certain range, wheel 107 also can to the pressure of circular pipe
It changes, so that screw drive motor 108 is worked by pressure sensor, pressure of the adjustment wheel 107 to circular pipe.
When the circular pipe robot that can turn is by crooked pipeline part, two bodies 1 that connecting spring 2 connects can structure
It has a certain degree, to adapt to the different camber of pipeline.
Claims (1)
- The circular pipe robot 1. one kind can turn, the robot is by two bodies (1), connecting spring (2) and control system group At, wherein body (1) by body rack (101), mobile support rod (102), wheel support bar (103), travelling nut (104), Screw rod (105), screw drive motor (106), wheel (107), wheel driving motor (108) are it is characterized in that: two bodies (1) are logical Connecting spring (2) composition is crossed, wherein body (1) is on body rack (101) equipped with screw rod (105) and screw drive motor (106), travelling nut (104) are housed on screw rod (105), mobile support rod (102) are connected by a hinge in travelling nut (104) on, wheel support bar (103) is connected by a hinge on body rack (101), mobile support rod (102) and wheel branch Strut (103) is connected by a hinge, and wheel (107) and wheel driving motor (108) are mounted on wheel support bar (103)；? Body rack (101) is also equipped with control system, controls the movement of each motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421178.7A CN109000085A (en) | 2017-06-07 | 2017-06-07 | One kind can turn circular pipe robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710421178.7A CN109000085A (en) | 2017-06-07 | 2017-06-07 | One kind can turn circular pipe robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109000085A true CN109000085A (en) | 2018-12-14 |
Family
ID=64573834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710421178.7A Pending CN109000085A (en) | 2017-06-07 | 2017-06-07 | One kind can turn circular pipe robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109000085A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486570A (en) * | 2019-08-26 | 2019-11-22 | 贵州大学 | A kind of bionical pipeline climbing robot |
| CN113090865A (en) * | 2021-04-09 | 2021-07-09 | 深圳信息职业技术学院 | Self-stabilizing walking mechanism of pipeline robot |
| EP3951234A1 (en) * | 2020-08-04 | 2022-02-09 | Vallourec Oil And Gas France | Drifting device and method for tubular goods |
| CN114210669A (en) * | 2021-12-15 | 2022-03-22 | 西安科技大学 | Cable duct bank dredging robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| CN103644427A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| CN105772458A (en) * | 2016-05-19 | 2016-07-20 | 丁国忠 | Pipeline dredging washing device |
-
2017
- 2017-06-07 CN CN201710421178.7A patent/CN109000085A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080245258A1 (en) * | 2007-04-06 | 2008-10-09 | General Electric Company | Pressure-balanced electric motor wheel drive for a pipeline tractor |
| CN102345781A (en) * | 2011-06-29 | 2012-02-08 | 南京南化建设有限公司 | In-pipe traveling machine |
| CN102954314A (en) * | 2012-11-21 | 2013-03-06 | 北京石油化工学院 | Pipeline robot dragging mechanism |
| CN103644427A (en) * | 2013-12-06 | 2014-03-19 | 桂林电子科技大学 | Pipeline robot walking device capable of being automatically adapted to diameters |
| CN105772458A (en) * | 2016-05-19 | 2016-07-20 | 丁国忠 | Pipeline dredging washing device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110486570A (en) * | 2019-08-26 | 2019-11-22 | 贵州大学 | A kind of bionical pipeline climbing robot |
| CN110486570B (en) * | 2019-08-26 | 2022-01-07 | 贵州大学 | Bionic pipeline crawling robot |
| EP3951234A1 (en) * | 2020-08-04 | 2022-02-09 | Vallourec Oil And Gas France | Drifting device and method for tubular goods |
| WO2022028988A1 (en) * | 2020-08-04 | 2022-02-10 | Vallourec Oil And Gas France | Drifting device and method for tubular goods |
| CN113090865A (en) * | 2021-04-09 | 2021-07-09 | 深圳信息职业技术学院 | Self-stabilizing walking mechanism of pipeline robot |
| CN113090865B (en) * | 2021-04-09 | 2021-12-14 | 深圳信息职业技术学院 | Self-stabilizing walking mechanism of pipeline robot |
| CN114210669A (en) * | 2021-12-15 | 2022-03-22 | 西安科技大学 | Cable duct bank dredging robot |
| CN114210669B (en) * | 2021-12-15 | 2023-08-29 | 西安科技大学 | Cable calandria mediation robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109000085A (en) | One kind can turn circular pipe robot | |
| CN206982234U (en) | A kind of pipe fitting clamp system | |
| CN107120493A (en) | A kind of circular pipe robot | |
| CN203843402U (en) | Positioning and welding device for pipe and flange | |
| CN204673085U (en) | A kind of bend pipe tube wall processing unit (plant) | |
| CN103862467B (en) | Four shaft mechanical arms | |
| CN208946177U (en) | A kind of limit telescopic mechanical arm | |
| CN105257950A (en) | Telescopic self-lock type intra-pipe movable robot | |
| CN207983366U (en) | A kind of pipeline detection processing engineering machine vehicle | |
| CN105856256B (en) | A kind of self-centering stationary machines people of pipe | |
| CN202224485U (en) | Hand-operated pipe bending apparatus | |
| CN204772541U (en) | Many joints industrial robot | |
| CN203343224U (en) | Bent steel tube straightening device with detector | |
| CN203917524U (en) | A kind of tube bending frock | |
| CN104826899A (en) | Left and right elbow bending mechanism for pipeline | |
| CN103331334B (en) | A kind of device and automobile production streamline correcting vehicle frame | |
| CN206677964U (en) | A kind of full Pneumatic multi-station manipulator | |
| CN112325051B (en) | Pipeline robot | |
| CN103331335B (en) | A kind of device and automobile production streamline correcting vehicle frame | |
| CN205972885U (en) | Tire is carried and is turned to device | |
| CN205001760U (en) | It is flexible from locking -type move within barrel robot | |
| CN111396690A (en) | Bendable circular pipeline robot | |
| CN208758492U (en) | A kind of fixation device of bending machine | |
| CN202701824U (en) | General power engine crankshaft rod portion car machining fixture | |
| CN103852226A (en) | Steel-pipe pressure test clamping device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181214 |
|
| WD01 | Invention patent application deemed withdrawn after publication |