CN202272092U - Pipe climbing robot for detecting welding seam outside pipe - Google Patents
Pipe climbing robot for detecting welding seam outside pipe Download PDFInfo
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- CN202272092U CN202272092U CN2011203975293U CN201120397529U CN202272092U CN 202272092 U CN202272092 U CN 202272092U CN 2011203975293 U CN2011203975293 U CN 2011203975293U CN 201120397529 U CN201120397529 U CN 201120397529U CN 202272092 U CN202272092 U CN 202272092U
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- hind leg
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Abstract
The utility model discloses a pipe climbing robot which can be used for detecting a welding seam outside a pipe. The pipe climbing robot comprises a basal body, front limbs and back limbs, wherein the basal body comprises a cover top, a fixed clamping plate, an abdominal rubber transmission belt, an abdominal roller, a circuit board and a motor, the front limbs comprise the guide rail pipes of the front limbs, a left rod and a right rod of the front limbs, the rubber rollers of the front limbs and linear motors, and the back limbs comprise the guide rail pipes of the back limbs, a left rod and a right rod of the back limbs, linear motors, a left rolling foot and a right rolling foot; and the front limbs penetrate through thick circular holes which are oppositely opened at the front end of the fixed clamping plate, and are also connected with the fixed clamping plate in a sliding way, the back limbs penetrate through a circular hole with a key groove in the middle of the fixed clamping plate and are also connected with the fixed clamping plate in a fixed way, the front limbs and the back limbs can carry out four actions of lifting, falling, clamping a pipeline and loosening the pipeline, and the abdominal rubber transmission belt and the abdominal roller form a transmission belt structure. The pipe climbing robot can climb at various pipe types, such as a straight pipe, an L-shaped pipe, a T-shaped pipe and a cross pipe; and moreover, the pipe climbing robot can be used for detecting a welding seam when the pipe climbing robot rotates at the position of the welding seam in a way of encircling a pipeline.
Description
Technical field
The utility model relates to a kind of tube climber device people who is used to manage the outside weld detection, belongs to the human technical field of machine.
Background technology
A lot of factories all can transport oil, natural fuels and chemical fuel etc. with pipeline; If because weld seam welding quality nonconformity causes taking place accidents such as pipeline oil and gas leakage even blast and will bring very serious consequence, therefore the strictness detection to the welding quality during the pipeline construction is a link very important in the pipe-line construction process.Traditional weld seam detection adopts manual work to detect, but some are in the pipeline of eminence, and it is very big that artificial butt welded seam detects the difficulty that wastes time and energy.
Though there are many technology that can be used for climbing the robot of pipeline to occur at present; But can be used for managing the outer tube climber device people who climbs in the present existing technology and can only climb one or two kind of cast such as straight tube or bend pipe; Thereby be difficult to reach the purpose of in complicated pipeline system, freely climbing; Can be used for managing the outer robot of climbing in the present in addition existing technology can not be around the pipeline rotation, so can not be used for the detection task of butt welded seam.
Summary of the invention
Deficiency to prior art; The utility model proposes a kind of tube climber device people that outside weld detects that can be used for managing; Can climb at multiple cast such as straight tube, L shaped pipe, tee tube and criss-cross pipe, and can carry out weld seam detection simultaneously around the pipeline rotation in the commissure.Its technical scheme is: comprise matrix, forelimb and hind leg, it is characterized in that:
(1) matrix comprises strap, belly rubber transmission belting, former and later two belly rollers of caping, both sides and circuit card, new line motor and the rear-guard motor that is installed in caping top; Wherein the strap front end of both sides is split two thick circular holes; The rear end is to having two thin circular holes, and the middle part is to having the circular hole of two band keyways; Caping is connected through screw retention with the strap of both sides; The belly roller is divided into front end belly roller and rear end belly roller; Rear end belly roller is the cylinder that two ends have protruding axle, and to the diminishing of middle gradual change, the protruding axle at its two ends passes two thin circular holes of strap rear end to its diameter from two; Rear end belly roller the rear end of strap and and strap between be sliding block joint; Front end belly roller be one up and down two cylinders have the cylinder of through hole, to the diminishing of middle gradual change, the diameter of through hole is constant from two for the diameter of cylinder; Front end belly roller is positioned at the front end of strap, and the belly rubber transmission belting wraps former and later two belly rollers; The front-end and back-end on caping top are separately installed with new line motor and rear-guard motor; Rear-guard gear of protruding axle captive joint of rear end belly roller one end; The rear-guard motor is through gear and rear-guard gear mesh; Belly rubber transmission belting and front and back end belly roller form the structure of driving band, all the involved motors of control circuit control the utility model on the circuit card.
(2) forelimb comprises forelimb guide rail pipe, left front zeugopodium, right front zeugopodium, forelimb rubber rollers, double output shaft linear electric motors, and wherein forelimb guide rail pipe is the pipe that has the linear guide-track groove of two ends symmetry; Forelimb guide rail pipe passes the thick circular hole of splitting of strap front end; And between the strap sliding block joint; New line gear of captive joint on the forelimb guide rail pipe, the new line motor of caping top front end is through gear and new line gear mesh, and aforesaid front end belly roller slip is socketed in the outside of forelimb guide rail pipe; Forelimb guide rail pipe bosom is installed with the double output shaft linear electric motors, and the output shaft at double output shaft linear electric motors two ends is a thread screw; About two preceding zeugopodiums be shaped as " E " shape; About the middle part of two preceding zeugopodiums a sliding ball that expands is arranged; Have tapped bore on the sliding ball; The thread screw of double output shaft linear electric motors passes from the tapped bore of sliding ball; Tapped bore and thread screw engagement; The rotation of the thread screw of double output shaft linear electric motors can drive two sliding balls in forelimb guide rail pipe to the centre near or separate to both sides; Two preceding zeugopodiums can slide to the centre along the linear guide-track groove about two sliding balls can draw respectively, and clamping also can slide to both sides unclamp, about slide respectively on three ends of two the preceding zeugopodiums forelimb rubber rollers of a rubber material of socket, three forelimb rubber rods of left fore and three forelimb rubber rod angles of right fore are 60 to spend; When about two preceding zeugopodiums in the middle of two side direction during the slip clamping pipe, equilateral triangle of formation between three forelimb rubber rods of zeugopodium and the belly rubber transmission belting three before three of zeugopodium forelimb rubber rods, the right left side before.
(3) hind leg comprises hind leg guide rail pipe, left back zeugopodium, right back zeugopodium, double output shaft linear electric motors and is used for clamping pipe and two foots that roll about laterally rolling on the pipeline; Wherein hind leg guide rail pipe is the pipe that has one section linear guide-track groove of screw thread and one section linear guide-track groove of two ends symmetry, and the linking of linear guide-track groove of the screw thread of each side and linear guide-track groove is level and smooth; Hind leg guide rail pipe passes the circular hole of the band keyway of splitting of strap middle part; Be connected through screw retention between the strap; Hind leg guide rail pipe bosom is installed with double output shaft linear electric motors, and the output shaft at double output shaft linear electric motors two ends is a thread screw; About after two the butt of zeugopodium a sliding ball that expands is arranged; Have tapped bore on the sliding ball; The thread screw of double output shaft linear electric motors passes from the tapped bore of sliding ball; Tapped bore and thread screw engagement; The rotation of the thread screw of double output shaft linear electric motors can drive two sliding balls in hind leg guide rail pipe to the centre near or separate to both sides; About two sliding balls can draw after two zeugopodium between linear guide-track groove of screw thread and linear guide-track groove, slide, the end of left back zeugopodium and the end of right back zeugopodium be to bent intermediate, the end of left back zeugopodium and right back zeugopodium is fixedly mounting the action spot that rolls left, the right foot that rolls respectively; The domatic angle that rolls left between the hind leg rubber transmission belting of action spot and the right foot that rolls is 60 degree; When about after two zeugopodium move into this process of linear guide-track groove along the thread guide-track groove of hind leg guide rail pipe to the centre, about two foots that roll become the state of sagging clamping by the state separately that raises up, make between the action spot that rolls left, right rolling foot and the belly rubber transmission belting three and form equilateral triangle; When about after two zeugopodium move into this process of the end of the linear guide-track groove of screw thread to both sides along the linear guide-track groove of hind leg guide rail pipe, about two foots that roll become the state separately that raises up by the states of sagging clamping; Two foots that roll all comprise rolling foot support, hind leg rubber transmission belting and two hind leg rollers about described; Its right-of-center in political views rolls and also comprises rotating machine, bent wheel connecting rod mechanism and weldquality detection head enough; About hind leg rubber transmission belting and the structure that two hind leg rollers all constitute driving band of two foots that roll; Swing pinion of an end captive joint of the axle of one of them hind leg roller of the right foot that rolls; Bevel gear of other end captive joint; A rotating machine and bent wheel connecting rod mechanism are installed, the fixing round bevel gear of the other end of the axle of bent wheel, hard-wired bevel gear engagement on this round bevel gear and the hind leg roller axle on the right rolling foot support; Rotating machine is through gear and swing pinion engagement; Right rotation of rolling sufficient rotating machine will drive the hind leg rubber transmission belting, can make that this what be used to manage tube climber device people that outside weld detects is active with the right side foot that rolls, and the action spot that rolls left is that the driven whole pipeline that centers on of mode rotates; The weldquality detection head that the transmission of hind leg roller through bevel gear simultaneously drives again on the bent wheel connecting rod mechanism is done the cycle back and forth movement, thereby carries out the task of weld seam detection when making tube climber device people accomplish around the pipeline rotation.
Description of drawings
Fig. 1 is the utility model embodiment scheme drawing.
Fig. 2 is the forelimb decomposing schematic representation of Fig. 1.
Fig. 3 is the hind leg decomposing schematic representation of Fig. 1.
Fig. 4 is the decomposing schematic representation of the right side rolling foot 26 among Fig. 3.
Fig. 5～Fig. 7 is the action step exploded drawings that the utility model is climbed L shaped pipe.
Fig. 8～Figure 10 is the action step exploded drawings of the utility model climbing tee tube.
Figure 11～Figure 13 is the action step exploded drawings of the utility model climbing criss-cross pipe.
Figure 14 is that the utility model hind leg is in the schematic rear view that raises up when unclamping pipeline.
Figure 15 is the utility model hind leg folder schematic rear view when being in sagging clamping pipe.
Marginal data: 1-caping, 2-strap, 3-circuit card, 4-rear-guard motor, 5-gear, 6-rear end belly roller; 7-belly rubber transmission belting, 8-front end belly roller, 9-new line motor, 10-gear, 11-forelimb guide rail pipe, 12-thread screw; The right front zeugopodium of 13-, 14-forelimb rubber rod, 15-double output shaft linear electric motors, 16-new line gear, 17-linear guide-track groove, the left front zeugopodium of 18-; The 19-sliding ball, 20-hind leg guide rail pipe, 21-double output shaft linear electric motors, 22-thread screw, the left back zeugopodium of 23-, the right back zeugopodium of 24-; The 25-action spot that rolls left, the right foot that rolls of 26-, the linear guide-track groove of 27-screw thread, 28-linear guide-track groove, 29-sliding ball, the right rolling foot support of 30-; The 31-rotating machine, 32-hind leg roller, 33-hind leg rubber transmission belting, 34-gear, 35-swing pinion, 36-bevel gear; 37-comes and goes bevel gear, the bent wheel of 38-, 39-connecting rod, 40-weldquality detection head, 41-rear-guard gear.
The specific embodiment
Further specify according to the embodiment of accompanying drawing below the utility model.
As shown in the figure, the utility model comprises matrix, is installed in forelimb and hind leg on the matrix;
Described matrix comprises the strap 2, belly rubber transmission belting 7 of caping 1, both sides, two belly rollers and the circuit card 3, new line motor 9 and the rear-guard motor 4 that are installed in caping 1 top; Wherein strap 2 front ends of both sides are split two thick circular holes, and the rear end is to having two thin circular holes; The belly roller is divided into front end belly roller 8 and rear end belly roller 6, and rear end belly roller 6 is cylinders that two ends have protruding axle, and its diameter is diminishing to middle gradual change from two; It is positioned at the rear end of strap 2; The protruding axle at its two ends passes two thin circular holes of strap 2 rear ends, it with strap 2 between be sliding block joint, front end belly roller 8 is cylinders that two cylinders have through hole about in the of; The diameter of cylinder is diminishing to middle gradual change from two; Through-hole diameter is constant, and front end belly roller 8 is positioned at the front end of strap 2, and belly rubber transmission belting 7 wraps former and later two belly rollers; The front-end and back-end on caping 1 top are separately installed with new line motor 9 and rear-guard motor 4; Rear-guard gear 41 of a side captive joint of the axle of rear end belly roller 6; Rear-guard motor 4 is through gear 5 and 41 engagements of rear-guard gear; Belly rubber transmission belting 7, front end belly roller 8 and rear end belly roller 6 form the structure of driving band, all the involved motors of control circuit control the utility model on the circuit card 3.
Described forelimb comprises forelimb guide rail pipe 11, left front zeugopodium 18, right front zeugopodium 13, forelimb rubber rollers 14, double output shaft linear electric motors 15, and wherein two ends, forelimb guide rail pipe 11 front symmetries has a linear guide-track groove 17; Forelimb guide rail pipe 11 passes the thick circular hole of splitting of strap 2 front ends; And be sliding block joint between the strap 2; New line gear 16 of a side captive joint of forelimb guide rail pipe 11; The new line motor 9 of caping 1 top front end is through gear 10 and 16 engagements of new line gear; Aforesaid front end belly roller 8 slip caps are connected on the outside of forelimb guide rail pipe 11, and forelimb guide rail pipe 11 bosoms are installed with double output shaft linear electric motors 15, and the output shaft at double output shaft linear electric motors 15 two ends is a thread screw 12; About two preceding zeugopodiums be shaped as " E " shape; About the middle part of two preceding zeugopodiums a sliding ball that expands 19 is arranged; Have tapped bore on the sliding ball 19; The thread screw 12 of double output shaft linear electric motors 15 passes from the tapped bore of sliding ball 19; 12 engagements of tapped bore and thread screw, about slip socket forelimb rubber rollers 14 on three ends of two preceding zeugopodiums, the forelimb rubber rod 14 of left fore is 60 degree with forelimb rubber rod 14 angles of right fore; About two preceding zeugopodiums can slide that clamping also can slide to both sides unclamp along linear guide-track groove 17 to the centre; When about two preceding zeugopodiums in the middle of two side direction during the slip clamping pipe, three forelimb rubber rods 14 and belly rubber transmission belting 7 three's double team pipelines that terminal three the forelimb rubber rods 14 of left front zeugopodium 18, right front zeugopodium 13 are terminal form an equilateral triangle between the three.
Roll left action spot 25 and the right foot 26 that rolls that described hind leg comprises hind leg guide rail pipe 20, left back zeugopodium 23, right back zeugopodium 24, double output shaft linear electric motors 21 and is used for clamping pipe and on pipeline, laterally rolls; Wherein two ends, hind leg guide rail pipe 20 back symmetry has one section linear guide-track groove 27 of screw thread and one section linear guide-track groove 28; The linking of linear guide-track groove of the screw thread of each side 27 and linear guide-track groove 28 is level and smooth, about zeugopodium can be level and smooth after two between linear guide-track groove 27 of screw thread and linear guide-track groove 28, slides; Hind leg guide rail pipe 20 bosoms are installed with double output shaft linear electric motors 21, and the output shaft at double output shaft linear electric motors 21 two ends is a thread screw 22; The butt of left back zeugopodium 23 and right back zeugopodium 24 has a sliding ball that expands 29; Have tapped bore on the sliding ball 29; Thread screw 22 engagements of tapped bore and double output shaft linear electric motors 21; The end of the end of left back zeugopodium 23 and right back zeugopodium 24 is to bent intermediate; The end of left back zeugopodium 23 and right back zeugopodium 24 is fixedly mounting the action spot 25 that rolls left, the right foot 26 that rolls respectively, and the domatic angle between the hind leg rubber transmission belting 33 of roll left action spot 25 and the right foot 26 that rolls is 60 degree, when about after two zeugopodium move into this process of linear guide-track groove 28 to the centre along the thread guide-track groove 27 of hind leg guide rail pipe 20; About two foots that roll become the states of sagging clamping by the state separately that raises up; Make the action spot 25 that rolls left, the right rolling form equilateral triangle between foot 26 and belly rubber transmission belting 7 threes, shown in figure 15, when about after two zeugopodium move into this process of the end of the linear guide-track groove 27 of screw thread to both sides along the linear guide-track groove 28 of hind leg guide rail pipe 20; About two foots that roll become the state that raises up and unclamp by the states of sagging clamping, shown in figure 14; Two foots that roll comprise rolling foot support, hind leg rubber transmission belting 33 and two hind leg rollers 32 about described; Its right-of-center in political views foot 26 that rolls also comprises rotating machine 31, bent wheel connecting rod mechanism and weldquality detection head 40; Swing pinion 35 of an end captive joint of the axle of the hind leg roller 32 of the right foot 26 that rolls; Bevel gear 36 of other end captive joint; Rotating machine 31 is fixedly mounted on the right rolling foot support 30, and bent wheel connecting rod mechanism also is installed on the right rolling foot support 30, the fixing round bevel gear 37 of the other end that bent wheel is 38; Should come and go bevel gear 37 and go up hard-wired bevel gear 36 engagements with 32 of hind leg rollers; Rotating machine 31 is through gear 34 and swing pinion 35 engagements, when about two foots that roll when being in sagging clamping pipe state, the rotation of the rotating machine 31 of the right foot 26 that rolls will drive hind leg rubber transmission belting 33; Make that this to be used to manage tube climber device people that outside weld detects be active with the right side foot 26 that rolls; The action spot 25 of rolling left is whole around the pipeline rotation for driven mode, and the weldquality detection head 40 that the transmission of hind leg roller 32 through bevel gear 36 simultaneously drives again on the bent wheel connecting rod mechanism is done the cycle back and forth movement, thereby carries out the task of weld seam detection when making this tube climber device people accomplish around the pipeline rotation.
This principle of work that is used to manage the tube climber device people's that outside weld detects climbing pipeline is:
One, fundamental operation summary
1, forward-reverse
When right front zeugopodium 13 terminal three forelimb rubber rods 14 are in sagging clamping pipe state with left front zeugopodium 18 three terminal forelimb rubber rods 14; Roll foot 26 and the left back zeugopodium 23 terminal action spots 25 that roll left when being in sagging clamping pipe state when the right back zeugopodium 24 terminal right sides simultaneously; Belly rubber transmission belting 7 is adjacent to pipeline; At this moment, only need the rotating of the control circuit control rear-guard motor 4 on the circuit card 3, make rear-guard motor 4 can order about tube climber device people and accomplish the action that moves forward and backward through gear drive rear end belly roller 6; When the dynamics of forelimb and hind leg clamping pipe is enough big, can be on pipeline straight up and down.
2, forelimb clamps, unclamps pipeline
The linear guide-track groove 17 that two preceding zeugopodiums had on the forelimb guide rail pipe 11 about the rotating of the double output shaft linear electric motors 15 in control circuit on the circuit card 3 control forelimb guide rail pipe 11 can drive moves or moves to two ends to the centre, thereby can make three parallel forelimb rubber rod 14 clamping pipes of three terminal parallel forelimb rubber rods 14 of left fore bar 18 and right front zeugopodium 13 ends or unclamp pipeline;
3, forelimb raises up, falls
The rotating of the control circuit control new line motor 9 on the circuit card 3; Can drive the rotating of new line gear 16; Because new line gear 16 is fixed on the forelimb guide rail pipe 11, and slides between forelimb guide rail pipe 11 and the strap 2, again owing to about two preceding zeugopodiums be stuck in the guide-track groove of forelimb guide rail pipe 11; So when 9 rotatings of control circuit control new line motor, two preceding zeugopodiums show as and raise up or fall about tube climber device people.
4, hind leg clamps, unclamps pipeline
The linear guide-track groove 28 that zeugopodium had on the hind leg guide rail pipe 20 after two about the rotating of the double output shaft linear electric motors 21 in control circuit on the circuit card 3 control hind leg guide rail pipe 20 can the drive linear guide-track groove that zeugopodium has on the hind leg guide rail pipe 20 after two about two ends are moved or driven respectively 28 moves to the centre; The linear guide-track groove 28 that zeugopodium has on the hind leg guide rail pipe 20 after two about driving respectively when move at two ends, about two roll foot about separate to two ends under the drive of zeugopodium after two, this process shows as hind leg and unclamps pipeline; The linear guide-track groove 28 that zeugopodium has on the hind leg guide rail pipe 20 after two about driving when move the centre, about two roll foot about clamp to the centre under the drive of zeugopodium after two, this process shows as the hind leg clamping pipe.
5, hind leg raises up, falls
Control circuit on the circuit card 3 can be controlled the rotating of the double output shaft linear electric motors 21 in the hind leg guide rail pipe 20, and the linear guide-track groove 28 that zeugopodium had on the hind leg guide rail pipe 20 after two about the rotating of double output shaft linear electric motors 21 can the drive linear guide-track groove 27 of screw thread that zeugopodium has on the hind leg guide rail pipe 20 after two about two ends slip into the linear guide-track groove 27 of screw thread or drive respectively slips into the linear guide-track groove 28 of middle part from two ends; The linear guide-track groove 28 that zeugopodium has on the hind leg guide rail pipe 20 after two about driving is respectively when two ends slip into the linear guide-track groove 27 of screw thread until guide-track groove terminal; Hind leg is raised up until the state that becomes vertically upward by state vertically downward, and this process shows as hind leg and raises up; When the linear guide-track groove 27 of screw thread that zeugopodium has on hind leg guide rail pipe 20 after two about driving slips into the linear guide-track groove 28 of middle part; Hind leg is fallen until the state that becomes vertically downward by state vertically upward, and it is sagging that this process shows as hind leg.
6, around the pipeline rotation
Two, the action step of the various pipelines of climbing
1, the situation of climbing straight tube
When right front zeugopodium 13 terminal three forelimb rubber rods 14 are in sagging clamping pipe state with left front zeugopodium 18 three terminal forelimb rubber rods 14; Roll foot 26 and the left back zeugopodium 23 terminal action spots 25 that roll left when being in sagging clamping pipe state when the right back zeugopodium 24 terminal right sides simultaneously; Belly rubber transmission belting 7 is adjacent to pipeline; At this moment; Carry out the action of aforesaid forward-reverse and can make tube climber device people carry out the action that moves forward and backward, when the dynamics of forelimb and hind leg clamping pipe enough greatly the time, can be on pipeline straight up and down.
2, the situation of L shaped pipe of climbing and tee tube
When the L shaped pipe of climbing, climb to the B pipe with tube climber device people from the A pipe and be example, as shown in Figure 5: current tube climber device people is on the A pipe; Tube climber device people at first corrects attitude through carrying out spinning movement, makes tube climber device people's forelimb align the B pipe, embraces the B pipe smoothly for forelimb and prepares; When tube climber device people's matrix and B pipe during on a plane; Tube climber device people has aimed at the B pipe, and at this moment, forelimb is carried out and to be unclamped the pipeline action and carry out the action that raises up then and manage parallel until forelimb with B; Tube climber device people still holds tightly at hind leg under the situation of A pipe and carries out forward motion then; When belly rubber transmission belting 7 withstands the B pipe, to carry out forelimb and clamp action, tube climber device people's state is as shown in Figure 6 behind the clamping pipe; Tube climber device people carries out hind leg and unclamps action then; At this moment; Carry out forward motion and forelimb drop action simultaneously, because forelimb is held pipeline at this moment tightly, will to cause belly rubber transmission belting 7 to press close to pipeline tube climber device people's state as shown in Figure 7 so carry out action that forelimb falls; Manage when parallel with B fully when belly rubber transmission belting 7, carry out hind leg and clamp action, at this moment, tube climber device people has managed from A fully and has moved to B and managed.
When climbing during tee tube, as shown in Figure 8, when tube climber device people when the A pipe is climbed to the B pipe, principle is identical when climbing L shaped pipe; When climbing to the C pipe from A pipe, at first correct attitude through carrying out spinning movement, opposite one side that makes tube climber device people move to the B pipe is position as shown in Figure 8; Carry out forward motion then; When current zeugopodium is run into the B pipe, carry out forelimb and unclamp action, it is as shown in Figure 9 to carry out forward motion then; When hind leg is run into the B pipe; Carry out forelimb and clamp action and carry out hind leg again and unclamp action to carry out forward motion then shown in figure 10, when tube climber device people moves to the C pipe fully, carry out hind leg and clamp action, accomplish the task of climbing the C pipe this moment from the A pipe of tee tube.
3, the situation of climbing criss-cross pipe
When climbing criss-cross pipe, shown in figure 11, when tube climber device people when the A pipe is climbed to the B pipe, principle is identical when climbing L shaped pipe; When climbing to the D pipe from A pipe, principle is identical when climbing L shaped pipe; When climbing to the C pipe from A pipe; At first correct attitude through carrying out spinning movement; A side that makes tube climber device people move to cross branch promptly reaches the position of Figure 11; Carry out forward motion then, when current zeugopodium was run into B pipe with the D pipe, the execution forelimb unclamps action, and to carry out the action that forelimb raises up again shown in figure 12 until the state that forelimb is in vertically upward; Carry out forward motion then; When hind leg is run into B pipe with the D pipe, carry out the forelimb drop action and carry out forelimb again and clamp action and carry out hind leg then and unclamp action and carry out the hind leg action that raises up then and be in state (Figure 14 is tube climber device people's a back view) shown in figure 13 vertically upward until hind leg, carry out forward motion then; When tube climber device people moves to the C pipe fully, carry out the hind leg drop action and carry out hind leg clamping action then, accomplish this moment from the A of criss-cross shape pipe and manage the task of climbing the C pipe.
Claims (4)
1. one kind can be used for managing the tube climber device people that outside weld detects, and it is characterized in that it is made up of matrix, forelimb and hind leg; Wherein:
Described matrix comprises strap, belly rubber transmission belting, front end belly roller, the rear end belly roller of caping, both sides and circuit card, new line motor and the rear-guard motor that is installed in caping top; Wherein the strap front end of both sides is split two thick circular holes; The rear end is to having two thin circular holes, and the middle part is to having the circular hole of two band keyways; Caping is connected through screw retention with the strap of both sides; The front-end and back-end on caping top are separately installed with new line motor and rear-guard motor;
Described forelimb comprises forelimb guide rail pipe, left front zeugopodium, right front zeugopodium, forelimb rubber rollers, double output shaft linear electric motors, and wherein forelimb guide rail pipe is the pipe that has the linear guide-track groove of two ends symmetry; Forelimb guide rail pipe passes the thick circular hole of splitting of strap front end; And between the strap sliding block joint; New line gear of captive joint on the forelimb guide rail pipe; The new line motor of caping top front end is through gear and new line gear mesh, and forelimb guide rail pipe bosom is installed with the double output shaft linear electric motors, and the output shaft at double output shaft linear electric motors two ends is a thread screw; About two preceding zeugopodiums be shaped as " E " shape; About the middle part of two preceding zeugopodiums a sliding ball that expands is arranged; Have tapped bore on the sliding ball; The thread screw of double output shaft linear electric motors passes from the tapped bore of sliding ball; The engagement of tapped bore and thread screw, the rotation of the screw rod of double output shaft linear electric motors can drive two sliding balls in forelimb guide rail pipe to the centre near or separate to both sides, two preceding zeugopodiums slided to middle slip clamping pipe or to both sides along the linear guide-track groove and unclamp pipeline about two sliding balls can draw;
Described hind leg comprise hind leg guide rail pipe, left back zeugopodium, right back zeugopodium, double output shaft linear electric motors and about two foots that roll; Wherein hind leg guide rail pipe is the pipe that has one section linear guide-track groove of screw thread and one section linear guide-track groove of two ends symmetry, and the linking of linear guide-track groove of the screw thread of each side and linear guide-track groove is level and smooth; Be connected through screw retention between hind leg guide rail pipe and the strap, hind leg guide rail pipe bosom is installed with double output shaft linear electric motors, and the output shaft at double output shaft linear electric motors two ends is a thread screw; About after two the butt of zeugopodium a sliding ball that expands is arranged; Have tapped bore on the sliding ball; The thread screw of double output shaft linear electric motors passes from the tapped bore of sliding ball; The engagement of tapped bore and thread screw, the rotation of the thread screw of double output shaft linear electric motors can drive two sliding balls in hind leg guide rail pipe to the centre near or separate to both sides, about two sliding balls can draw after two zeugopodium between linear guide-track groove of screw thread and linear guide-track groove, slide.
2. a kind of tube climber device people that outside weld detects that can be used for managing as claimed in claim 1; It is characterized in that: described rear end belly roller is the cylinder that two ends have protruding axle; Its diameter is diminishing to middle gradual change from two; The thin circular hole that split the rear end that protruding axle passes strap, wherein rear-guard gear of protruding axle captive joint of an end; Described front end belly roller be one up and down two cylinders have the cylinder of through hole, to the diminishing of middle gradual change, the diameter of through hole is changeless from two to the centre to the diameter of cylinder from two, its slip cap is connected on the outside of forelimb guide rail pipe; Described belly rubber transmission belting wraps former and later two belly rollers; Form the structure of driving band between belly rubber transmission belting, front end belly roller and the rear end belly roller; The structure of this driving band drives through the rear-guard motor that is installed on the caping, and this driving band is used for ordering about and thisly is used to manage the tube climber device people that outside weld detects and on pipeline, moves forward and backward.
3. a kind of tube climber device people that outside weld detects that can be used for managing as claimed in claim 1; It is characterized in that: the forelimb rubber rollers of the rubber material of socket of sliding respectively on three of two preceding zeugopodiums ends about described, three forelimb rubber rods of left fore and three forelimb rubber rod angles of right fore are 60 degree; The end of described left back zeugopodium and the end of right back zeugopodium are to bent intermediate; The end of left back zeugopodium and right back zeugopodium is fixedly mounting the action spot that rolls left, the right foot that rolls respectively, and the domatic angle between the hind leg rubber transmission belting of roll left action spot and the right foot that rolls is 60 degree.
4. a kind of tube climber device people that outside weld detects that can be used for managing as claimed in claim 3; It is characterized in that: two foots that roll all comprise rolling foot support, hind leg rubber transmission belting and two hind leg rollers about described; Its right-of-center in political views rolls and also comprises rotating machine, bent wheel connecting rod mechanism and weldquality detection head enough; About hind leg rubber transmission belting and the structure that two hind leg rollers all constitute driving band of two foots that roll; Rotating machine of fixed installation and bent wheel connecting rod mechanism on the right rolling foot support; The end of connecting rod is equipped with a weldquality detection head, has a groove on the right rolling foot support, and the weldquality detection head can be done back and forth movement in this groove; The fixing round bevel gear of the other end of the axle of bent wheel; Should come and go hard-wired bevel gear engagement on bevel gear and the hind leg roller axle, the rotation of the rotating machine of the right foot that rolls can make the right foot that rolls for initiatively, and to be that driven drive is this be used to manage that tube climber device people that outside weld detects is whole rotates around pipeline to the action spot that rolls left; While can make the weldquality detection head on the bent wheel connecting rod mechanism do the cycle back and forth movement, thereby makes tube climber device people accomplish the task of when pipeline rotates, carrying out weld seam detection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203975293U CN202272092U (en) | 2011-10-18 | 2011-10-18 | Pipe climbing robot for detecting welding seam outside pipe |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203975293U CN202272092U (en) | 2011-10-18 | 2011-10-18 | Pipe climbing robot for detecting welding seam outside pipe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202272092U true CN202272092U (en) | 2012-06-13 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203975293U Expired - Fee Related CN202272092U (en) | 2011-10-18 | 2011-10-18 | Pipe climbing robot for detecting welding seam outside pipe |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202272092U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029767A (en) * | 2012-12-10 | 2013-04-10 | 天津大学 | Moving mechanism around pipeline |
| CN106364582A (en) * | 2016-10-19 | 2017-02-01 | 广西师范大学 | Clamping device of crawling robot |
| RU170056U1 (en) * | 2016-10-07 | 2017-04-12 | федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" (Университет ИТМО) | Vehicle for moving a robot in a pipeline of complex configuration |
| CN107380291A (en) * | 2017-07-12 | 2017-11-24 | 北京理工大学 | Mode of doing more physical exercises pipeline outer wall climbing detection robot |
| JP2019529211A (en) * | 2016-09-20 | 2019-10-17 | サウジ アラビアン オイル カンパニー | Underwater pipeline inspection crawler |
| RU2796166C1 (en) * | 2022-10-25 | 2023-05-17 | Ооо "Эйарси" | Autonomous robot for in-tube diagnostics |
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2011
- 2011-10-18 CN CN2011203975293U patent/CN202272092U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029767A (en) * | 2012-12-10 | 2013-04-10 | 天津大学 | Moving mechanism around pipeline |
| CN103029767B (en) * | 2012-12-10 | 2015-02-18 | 天津大学 | Moving mechanism around pipeline |
| JP2019529211A (en) * | 2016-09-20 | 2019-10-17 | サウジ アラビアン オイル カンパニー | Underwater pipeline inspection crawler |
| US11235472B2 (en) | 2016-09-20 | 2022-02-01 | Saudi Arabian Oil Company | Underwater pipeline inspection crawler |
| RU170056U1 (en) * | 2016-10-07 | 2017-04-12 | федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский национальный исследовательский университет информационных технологий, механики и оптики" (Университет ИТМО) | Vehicle for moving a robot in a pipeline of complex configuration |
| CN106364582A (en) * | 2016-10-19 | 2017-02-01 | 广西师范大学 | Clamping device of crawling robot |
| CN106364582B (en) * | 2016-10-19 | 2018-09-18 | 广西师范大学 | A kind of climbing robot clamping device |
| CN107380291A (en) * | 2017-07-12 | 2017-11-24 | 北京理工大学 | Mode of doing more physical exercises pipeline outer wall climbing detection robot |
| CN107380291B (en) * | 2017-07-12 | 2024-01-19 | 北京理工大学 | Multi-motion-mode pipeline outer wall climbing detection robot |
| RU2796166C1 (en) * | 2022-10-25 | 2023-05-17 | Ооо "Эйарси" | Autonomous robot for in-tube diagnostics |
| RU2802483C1 (en) * | 2022-12-29 | 2023-08-29 | Общество с ограниченной ответственностью "ЭНТЭ" (ООО "ЭНТЭ") | Transport module of in-line diagnostic robot |
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Granted publication date: 20120613 Termination date: 20121018 |