CN109869571A - Self-levelling systems for travelling bogie in pipeline - Google Patents
Self-levelling systems for travelling bogie in pipeline Download PDFInfo
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- CN109869571A CN109869571A CN201711257007.1A CN201711257007A CN109869571A CN 109869571 A CN109869571 A CN 109869571A CN 201711257007 A CN201711257007 A CN 201711257007A CN 109869571 A CN109869571 A CN 109869571A
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- potentiometer
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- trolley
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- travelling bogie
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Abstract
The present invention relates to a kind of self-levelling systems for travelling bogie in pipeline, belong to the technical field of Construction of Long-distance Pipelines.The self-levelling systems for travelling bogie in pipeline include control assembly, executive module and the fixed frame being arranged on trolley, by the way that weight is rotatably arranged in the first potentiometric shaft, first potentiometer and the first step actuator are connected, first step actuator is connected with first wheel motor, when being rolled during trolley is advanced in pipeline, weight deflects and drives the first potentiometric shaft rotation and changes the first potentiometric value, first step actuator changes the revolving speed of first wheel motor based on the variation of the first potentiometric value, so that the speed of service of the trolley in the speed of service other side on the other side of first wheel motor side generates speed difference, realize the steering of trolley, trolley is promoted to be restored to the state of horizontal traveling, travelling bogie in pipeline is avoided to turn on one's side, guarantee that pipeline is applied Work is gone on smoothly.
Description
Technical field
The present invention relates to the technical field of Construction of Long-distance Pipelines, in particular to a kind of self-regulated for travelling bogie in pipeline
Flat system.
Background technique
In the construction of long distance pipeline, in order to guarantee the normal use of pipeline, need often to detect pipeline inside,
The operation such as cleaning, and these operations are carried out in long distance pipeline, it usually also needs to complete by travelling bogie in pipeline, that is, borrows
Walking dolly traction special equipment is helped to be operated.
Travelling bogie in pipeline in the prior art is protected using the driving wheel of mechanical coaxial structure using Driven by Coaxial wheel
The revolving speed for demonstrate,proving the driving wheel at left and right sides of trolley is consistent, and trolley is enabled to draw special equipment smooth sliding in pipeline.
In the implementation of the present invention, the inventors discovered that in the prior art the prior art has at least the following problems:
Though the Driven by Coaxial wheel construction of existing travelling bogie in pipeline can guarantee the revolving speed one of driving wheel at left and right sides of trolley
It causes, but when trolley encounters tubulation weld seam or driving wheel unilateral side is skidded, which can be such that trolley rolls, into
And the special equipment that trolley is drawn is from reaching predetermined position；And if trolley inclination seriously causes to turn on one's side, can not only damage
The special equipment of bad traction can also bring a series of extra work such as rescue in pipeline, seriously affect going on smoothly for construction.
Summary of the invention
In order to solve the above technical problems, the present invention provide one kind can be avoided travelling bogie in pipeline occur roll or
The self-levelling systems for travelling bogie in pipeline of rollover.
Specifically, including technical solution below:
A kind of self-levelling systems for travelling bogie in pipeline, the system comprises control assembly, executive module and set
Set the fixed frame on trolley, wherein
The control assembly and the executive module are arranged on the fixed frame；
The control assembly includes weight and the first potentiometer, and the weight is rotatably arranged in first potentiometer
Shaft on；
The executive module includes connected the first step actuator and first wheel motor, first step actuator
It is connected with first potentiometer；
When the trolley rolls in the traveling process in pipeline, the weight deflects and drives first current potential
The shaft of meter rotates and changes the described first potentiometric value, and it is potentiometric that first step actuator is based on described first
The variation of value changes the revolving speed of the first wheel motor.
Further, it is provided with signal projector on first potentiometer, is provided on first step actuator
Signal receiver, the signal receiver are suitable for receiving the signal of the signal projector.
Further, the signal is resistance value signal.
Further, the control assembly further includes the second potentiometer, second potentiometer and first potentiometer
It is reversed coaxial connected；The executive module further includes connected the second step actuator and the second hub motor, second electricity
Position meter is connected with second step actuator.
Further, the control assembly further includes shell, and first potentiometer and second potentiometer setting exist
On the shell, the shell is arranged on the fixed frame.
Further, the fixed frame is cuboid framework, the first wheel motor and second hub motor
It is symmetricly set on the two sides of the long side of the cuboid framework.
Further, the first wheel motor and second hub motor are set in tire.
Further, the system also includes Power Supply Assembly, the Power Supply Assembly is arranged on the fixed frame, and point
It is not connected with the control assembly and the executive module.
Technical solution provided in an embodiment of the present invention the utility model has the advantages that
The self-levelling systems for travelling bogie in pipeline of the embodiment of the present invention using control assembly, executive module and are set
Set the fixed frame on trolley, by the way that weight is rotatably arranged in the first potentiometric shaft, the first potentiometer and
First step actuator is connected, and the first step actuator is connected with first wheel motor, during trolley is advanced in pipeline
When rolling, weight deflects and drives the first potentiometric shaft rotation and changes the first potentiometric value, the first stepping
Driver changes the revolving speed of first wheel motor based on the variation of the first potentiometric value, so that trolley is in first wheel motor
The speed of service of the speed of service of the side other side on the other side generates speed difference, realizes the steering of trolley, promotes small
Vehicle is restored to the state of horizontal traveling, avoids travelling bogie in pipeline and turns on one's side, ensure that going on smoothly for pipeline construction.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of structural schematic diagram of the self-levelling systems for travelling bogie in pipeline provided by the invention；
Fig. 2 is that the structure of control assembly in a kind of self-levelling systems for travelling bogie in pipeline provided by the invention is shown
It is intended to；
Fig. 3 is trolley horizontality schematic diagram in pipeline；
Fig. 4 is trolley rolling condition schematic diagram in pipeline.
Appended drawing reference in figure respectively indicates:
1, control assembly；
101, weight；
102, the first potentiometer；
103, the second potentiometer；
104, shell；
2, executive module；
201, the first step actuator；
202, first wheel motor；
203, the second step actuator；
204, the second hub motor；
3, fixed frame；
4, Power Supply Assembly；
Y, trolley.
Specific embodiment
To keep technical solution of the present invention and advantage clearer, below in conjunction with attached drawing to embodiment of the present invention make into
One step it is described in detail.Unless otherwise defined, all technical terms used in the embodiment of the present invention all have and art technology
The normally understood identical meaning of personnel.
The embodiment of the present invention provides a kind of self-levelling systems for travelling bogie in pipeline, as shown in Figure 1, the self-level(l)ing
System includes control assembly 1, executive module 2 and the fixed frame 3 being arranged on trolley Y.
Wherein, control assembly 1 and executive module 2 are arranged on fixed frame 3.
Control assembly 1 includes that weight 101 and the first potentiometer 102, weight 101 are rotatably arranged in the first potentiometer
In 102 shaft, as shown in Figure 2.
Executive module 2 includes connected the first step actuator 201 and first wheel motor 202, the first step actuator
201 are connected with the first potentiometer 102.
When trolley Y is rolled in the traveling process in pipeline, weight 101 deflects and drives the first potentiometer 102
Shaft rotates and changes the value of the first potentiometer 102, value of first step actuator 201 based on the first potentiometer 102
Variation changes the revolving speed of first wheel motor 202.
It should be noted that trolley Y is provided with multipair wheel in the two sides of fixed frame 3, in embodiments of the present invention with
For two pairs of wheels, as shown in Figure 1, for example, first wheel motor 202 is set in the tire of left side wheel in one pair of them wheel
It is interior, driving force is provided for trolley Y, drives the vehicle and another pair wheel movement on right side.
A kind of working principle of self-levelling systems for travelling bogie in pipeline provided in an embodiment of the present invention are as follows:
When trolley Y is in horizontal travel condition, as shown in figure 3, fixed frame 3 is in equilibrium state, weight 101 is not sent out
Raw deflection, under the driving of first wheel motor 202, trolley Y smoothly advances in pipeline；
When trolley Y is rolled, as shown in figure 4, fixed frame 3 tilts, the weight 101 in control assembly 1 is driven to exist
It also deflects under the action of gravity, due to the deflection of weight 101, drives the shaft rotation of the first potentiometer 102 and change the
The variation of the value of one potentiometer 102, value of first step actuator 201 based on the first potentiometer 102 changes first wheel
The revolving speed of motor 202, so that trolley Y is in the speed of service other side on the other side of 202 side of first wheel motor
The speed of service generates speed difference, realizes the steering of trolley Y, and the state of horizontal traveling is restored to so as to adjust trolley Y.
It should be noted that as the variation of 101 deflection angle of weight drives the rotation of the shaft of the first potentiometer 102,
The value of first potentiometer 102 constantly changes, and changes so that the driving force of the first step actuator 201 is not short yet, into one
Step ground, the revolving speed of first wheel motor 202 also change correspondingly.When trolley Y restores horizontal travel condition from heeling condition, first
The revolving speed of hub motor 202 also returns to revolving speed when trolley Y level is advanced.
Therefore, the self-levelling systems provided in an embodiment of the present invention for travelling bogie in pipeline using control assembly 1, hold
Row component 2 and the fixed frame 3 being arranged on trolley Y, when so that trolley Y being rolled during traveling in pipeline, weight
101 deflections drive the value of shaft rotation the first potentiometer 102 of change of the first potentiometer 102,201 base of the first step actuator
Change the revolving speed of first wheel motor 202 in the variation of the value of the first potentiometer 102, so that trolley Y is in first wheel motor
The speed of service of the speed of service of the 202 side other side on the other side generates speed difference, realizes the steering of trolley Y, into
And trolley Y is made to be restored to the state of horizontal traveling, avoiding travelling bogie in pipeline Y turns on one's side, and ensure that pipeline construction
It goes on smoothly.
For the drive connection relationship being better described between the first potentiometer 102 and the first step actuator 201, at this
In the self-levelling systems for travelling bogie in pipeline of inventive embodiments, it is provided with signal projector on the first potentiometer 102,
Signal receiver is provided on first step actuator 201, signal receiver is suitable for receiving the signal of signal projector, so that the
The value information of itself can be passed through signal projector in real time in time and be sent to the first step actuator by one potentiometer 102
201, realize driving of first potentiometer 102 to the first step actuator 201.
For the ease of the acquisition of the variable signal, which can be resistance value signal, that is to say, that weight 101
Deflection changes potentiometric resistance value, and the resistance value signal of change is sent to the first step actuator by the first potentiometer 102
201, change the driving force of the first step actuator 201 by the information driving of different resistance values.
In order to which steering of the trolley Y when rolling is better achieved, on the one hand, control assembly 1 further includes the second current potential
Meter 103, the second potentiometer 103 and the first potentiometer 102 it is reversed it is coaxial be connected, weight 101 is arranged in the second potentiometer 103 and the
Between two potentiometers 103, as shown in Figure 2；On the other hand, executive module 2 further includes connected the second step actuator 203 and
Two hub motors 204, the second potentiometer 103 are connected with the second step actuator 203.
It should be noted that fixed frame 3 is cuboid framework, first wheel motor 202 and the second hub motor 204 are right
Claim the two sides that the long side of cuboid framework is set, the second hub motor 204 is as with first wheel motor 202, the second wheel hub
Motor 204 is also set in wheel tyre cavity, drives wheel movement.
So set, weight 101 deflects, the first potentiometer when trolley Y is rolled in the traveling process in pipeline
102 rotate to a direction, the opposite direction rotation that the second potentiometer 103 is rotated to the first potentiometer 102.
For example, positive change occurs for the resistance value of the first potentiometer 102, the resistance value of the second potentiometer 103 occurs reversed
The resistance value signal of change is sent to the first step actuator 201, the first step actuator 201 by variation, the first potentiometer 102
Receive the revolving speed for changing first wheel motor 202 after the resistance value signal；Second potentiometer 103 sends out the resistance value signal of change
Give the second step actuator 203, the second step actuator 203 receives after the resistance value signal also the second hub motor 204
Revolving speed, by the collective effect of first wheel motor 202 and the second hub motor 204, so that the speed difference of the two sides trolley Y is quick
Increase, so that trolley Y is quickly restored to the state of horizontal traveling.
It should be noted that the first potentiometer 102 and the second potentiometer 103 are the identical potentiometer of two specifications mounted in same
In one shaft, when adjusting shaft, two potentiometric sliding contacts are rotated synchronously, and may be implemented reversely to measure current potential.Weight
101 are arranged in shaft, and when trolley Y is when horizontality is walked, the holding of weight 101 naturally droops state；When trolley Y is in pipeline
When rolling in interior traveling process, weight 101 can deflect under gravity, drive shaft to rotate with, Jin Ergai
Become the first potentiometer 102 of shaft two sides and the resistance value of the second potentiometer 103.
Drive connection relationship between the first potentiometer 102 and the first step actuator 201 is identical, implements in the present invention
In example, it is also equipped with signal projector on the second potentiometer 103, is also equipped with signal receiver on the second step actuator 203,
Signal receiver is suitable for receiving the signal of signal projector, and the second potentiometer 103 in real time believes the value of itself
Breath is sent to the second step actuator 203 by signal projector in time, realizes the second potentiometer 103 to the second stepper drive
The driving of device 203.
Based on above-mentioned, in order to which the fixation of control assembly 1 is better achieved, in embodiments of the present invention, control assembly 1 is also wrapped
Shell 104 is included, the first potentiometer 102 and the second potentiometer 103 are arranged on shell 104, and shell 104 is arranged in fixed frame 3
On, so that the first potentiometer 102 and the second potentiometer 103 are fixed on fixed frame 3 by shell 104, and protect the first electricity
Position meter 102 and the second potentiometer 103 not will receive external injury.
In order to which the self-levelling systems for travelling bogie in pipeline to the embodiment of the present invention provide electric power support, the system
It further include Power Supply Assembly 4, the setting of Power Supply Assembly 4 is connected on fixed frame 3, and respectively with control assembly 1 and executive module 2.
Specifically, Power Supply Assembly 4 respectively with the first potentiometer 102, the first step actuator 201, first wheel motor
202, the second potentiometer 103, the second step actuator 203 are connected with the second hub motor 204, are the first potentiometer 102, first
Step actuator 201, first wheel motor 202, the second potentiometer 103, the second step actuator 203 and the second hub motor
204 provide electric power support.
In a kind of possible embodiment, Power Supply Assembly 4 is battery, and battery is light and small, is easily installed in fixed frame 3
On.
When trolley Y encounters control weld seam in pipeline or wheel single-side skidding rolls, fixed frame 3 is tilted, band
Dynamic weight 101 also deflects under the effect of gravity, due to the deflection of weight 101, drives the first potentiometer 102 and the second current potential
Shaft rotation where meter 103, changes the value of the resistance value of the first potentiometer 102 and the second potentiometer 103, the first potentiometer
102 and second potentiometer 103 signal of the resistance value of change be sent to the first step actuator 201 and the second stepping respectively drive
Dynamic device 203, the variation of value of first step actuator 201 based on the first potentiometer 102 change turning for first wheel motor 202
Speed, the variation of value of second step actuator 203 based on the second potentiometer 103 change the revolving speed of the second hub motor 204, make
Trolley Y is obtained in the speed of service of 202 side of first wheel motor and the speed of service of 204 side of the second hub motor
Speed difference is generated, under the action of speed difference, realizes the steering of trolley Y, adjustment trolley Y is restored to the state of horizontal traveling.
The above is merely for convenience of it will be understood by those skilled in the art that technical solution of the present invention, not to limit
The present invention.All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (8)
1. a kind of self-levelling systems for travelling bogie in pipeline, which is characterized in that the system comprises control assembly (1),
Executive module (2) and the fixed frame (3) being arranged on trolley (Y), wherein
The control assembly (1) and the executive module (2) are arranged on the fixed frame (3)；
The control assembly (1) includes weight (101) and the first potentiometer (102), and the weight (101) is rotatably arranged in
In the shaft of first potentiometer (102)；
The executive module (2) includes connected the first step actuator (201) and first wheel motor (202), and described first
Step actuator (201) is connected with first potentiometer (102)；
When the trolley (Y) rolls in the traveling process in pipeline, the weight (101) deflects and drives described first
The shaft of potentiometer (102) rotates and changes the value of first potentiometer (102), first step actuator (201)
The variation of value based on first potentiometer (102) changes the revolving speed of the first wheel motor (202).
2. the self-levelling systems according to claim 1 for travelling bogie in pipeline, which is characterized in that first electricity
It is provided with signal projector on position meter (102), is provided with signal receiver, the letter on first step actuator (201)
Number receiver is suitable for receiving the signal of the signal projector.
3. the self-levelling systems according to claim 2 for travelling bogie in pipeline, which is characterized in that the signal is
Resistance value signal.
4. the self-levelling systems according to claim 1 for travelling bogie in pipeline, which is characterized in that the control group
Part (1) further includes the second potentiometer (103), second potentiometer (103) and the reversed coaxial phase of first potentiometer (102)
Even；The executive module (2) further includes connected the second step actuator (203) and the second hub motor (204), and described second
Potentiometer (103) is connected with second step actuator (203).
5. the self-levelling systems according to claim 4 for travelling bogie in pipeline, which is characterized in that the control group
Part (1) further includes shell (104), and first potentiometer (102) and second potentiometer (103) are arranged in the shell
(104) on, the shell (104) is arranged on the fixed frame (3).
6. the self-levelling systems according to claim 4 for travelling bogie in pipeline, which is characterized in that the fixed frame
Frame (3) is cuboid framework, and the first wheel motor (202) and second hub motor (204) are symmetricly set on described
The two sides of the long side of cuboid framework.
7. the self-levelling systems according to claim 6 for travelling bogie in pipeline, which is characterized in that the first round
Hub motor (202) and second hub motor (204) are set in tire.
8. the self-levelling systems according to claim 1 for travelling bogie in pipeline, which is characterized in that the system is also
Including Power Supply Assembly (4), the Power Supply Assembly (4) is arranged on the fixed frame (3), and respectively with the control assembly
(1) it is connected with the executive module (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257007.1A CN109869571A (en) | 2017-12-04 | 2017-12-04 | Self-levelling systems for travelling bogie in pipeline |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711257007.1A CN109869571A (en) | 2017-12-04 | 2017-12-04 | Self-levelling systems for travelling bogie in pipeline |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109869571A true CN109869571A (en) | 2019-06-11 |
Family
ID=66914322
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711257007.1A Pending CN109869571A (en) | 2017-12-04 | 2017-12-04 | Self-levelling systems for travelling bogie in pipeline |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422248A (en) * | 2020-04-01 | 2020-07-17 | 株洲市东亨科技有限责任公司 | Subway rail laying vehicle with automatic control automobile body levelness function |
| CN112576863A (en) * | 2020-11-26 | 2021-03-30 | 中国科学院光电技术研究所 | Robot for gluing and repairing pipelines in nuclear radiation environment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126477A (en) * | 2011-02-16 | 2011-07-20 | 电子科技大学 | Anti-rollover early warning device for automobile |
| CN202927362U (en) * | 2012-07-02 | 2013-05-08 | 齐齐哈尔大学 | Structure of pipeline inspection robot |
| CN107380145A (en) * | 2013-03-29 | 2017-11-24 | 日立汽车***株式会社 | The motion control device of vehicle |
-
2017
- 2017-12-04 CN CN201711257007.1A patent/CN109869571A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102126477A (en) * | 2011-02-16 | 2011-07-20 | 电子科技大学 | Anti-rollover early warning device for automobile |
| CN202927362U (en) * | 2012-07-02 | 2013-05-08 | 齐齐哈尔大学 | Structure of pipeline inspection robot |
| CN107380145A (en) * | 2013-03-29 | 2017-11-24 | 日立汽车***株式会社 | The motion control device of vehicle |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111422248A (en) * | 2020-04-01 | 2020-07-17 | 株洲市东亨科技有限责任公司 | Subway rail laying vehicle with automatic control automobile body levelness function |
| CN112576863A (en) * | 2020-11-26 | 2021-03-30 | 中国科学院光电技术研究所 | Robot for gluing and repairing pipelines in nuclear radiation environment |
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Application publication date: 20190611 |