CN218762136U - Spiral pipeline robot - Google Patents

Abstract

The utility model discloses a spiral pipeline robot, which comprises an upper disk seat, a middle disk seat and a lower disk seat, wherein the upper disk seat is connected with the middle disk seat through a plurality of upper supporting mounting columns, and the middle disk seat is connected with the lower disk seat through a plurality of lower supporting mounting columns; a planet wheel driving mechanism is arranged on the upper disc seat, a guide wheel self-adaptive mechanism is installed on the planet wheel driving mechanism, and a supporting wheel self-adaptive mechanism is arranged between the middle disc seat and the lower disc seat. The planetary wheel driving mechanism of the utility model drives the guide wheel self-adapting mechanism to rotate, the guide wheel self-adapting mechanism is utilized to clean and move the pipeline, and meanwhile, the guide wheel self-adapting mechanism can automatically adjust and adapt to the inner diameter of the pipeline; the self-adaptive mechanism of the supporting wheel can guide the whole device and can also automatically adjust and adapt to the inner diameter of the pipeline; the device can adapt to the cleaning of pipe diameters with different pipe diameters; the guide wheel self-adaptive mechanism is provided with a plurality of driving guide wheels, and the condition of power failure can be effectively avoided.

Description

Spiral pipeline robot

Technical Field

The utility model relates to a pipeline maintenance field, concretely relates to spiral pipeline robot.

Background

Since the 70 s in the twentieth century, the petroleum, chemical, natural gas and nuclear industries have rapidly developed, and pipeline transportation, which is one of five transportation modes in the world, is more widely applied to the industrial transportation fields of petroleum, natural gas and the like. Due to the fact that the temperature and the pressure of the pipeline are different and the physical and chemical effects between the medium and the pipeline are caused in the process of conveying liquid and gas, the pipeline is prone to generating defects such as corrosion, cracks, fatigue damage and the like, leakage is caused, and potential safety hazards are caused. In order to avoid potential safety hazards and to extend the effective service life of the transport pipeline, the pipeline must be periodically inspected and maintained. However, due to the particularity of the environment where most of the transportation pipelines are located, people often cannot go to manual operation or are not easy to go to, the efficiency of the manual operation is low, the cost is high, and certain potential safety hazards exist for workers due to harmful wastewater and gas in the pipelines. In order to ensure the safety of pipeline workers and improve the working efficiency, a large number of scientific researchers at home and abroad begin research on pipeline robots.

At present, the research on pipeline robots mainly uses wheel type, crawler type and peristaltic pipeline robots, and the robots mainly face the detection and cleaning field in the common pipeline environment. With the development of society, the environment conditions inside the pipeline gradually become complex, such as special and complex pipeline environments of large-angle inclination of the pipeline, multi-diameter pipeline connection, T-shaped tee pipelines and the like. The traditional wheel type trolley pipeline robot with single power cannot overcome a pipeline inclined at a large angle and realize self-adaption of a multi-diameter pipeline, and power failure and control failure are easy to occur in the case of a T-shaped three-way pipeline; crawler-type, wriggling formula pipeline robot also are single power type robot, though climbing ability is more than traditional wheeled pipeline robot and is more than some, nevertheless also hardly overcome the inclined pipeline of angle more than 45, and all can' T accomplish different pipe diameters of self-adaptation, normal operating in big gradient inclined pipeline, avoid power failure during T type tee bend pipeline environment.

Therefore, it is necessary to research and design a pipeline robot with variable diameter, multi-power distribution and strong climbing capability, so that the robot can normally operate in special and complex pipeline environments such as a large-gradient inclined pipeline, a multi-pipe-diameter connection and a T-shaped three-way pipeline, regular inspection and maintenance of the pipeline in the special and complex environments are realized, potential safety hazards are avoided, and the effective service life of a transportation pipeline is prolonged.

SUMMERY OF THE UTILITY MODEL

Not enough to the above-mentioned of prior art, the utility model provides a climbing ability is strong, have self-adaptation pipe diameter ability, many power distribution's spiral pipeline robot.

In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows: the upper disc seat is connected with the middle disc seat through a plurality of upper support mounting columns, and the middle disc seat is connected with the lower disc seat through a plurality of lower support mounting columns; a planet wheel driving mechanism is arranged on the upper disc seat, a guide wheel self-adaptive mechanism is installed on the planet wheel driving mechanism, and a supporting wheel self-adaptive mechanism is arranged between the middle disc seat and the lower disc seat.

Further, the supporting wheel self-adaptation mechanism is including running through the lead screw of installing on well dish seat and lower dish seat, be provided with lead screw trip piece on the lead screw, lead screw and lead screw trip piece screw-thread fit are provided with a plurality of V-arrangement support arms on the well dish seat, the one end of V-arrangement support arm articulates on well dish seat, one end is provided with driven leading wheel, still be provided with the connecting rod between V-arrangement support arm and the lead screw trip piece, the one end and the lead screw trip piece of connecting rod are articulated, the other end is articulated with the middle part of V-arrangement support arm.

Furthermore, the planet wheel driving mechanism comprises a gear ring, a sun wheel, a plurality of planet wheels and a planet carrier, wherein the gear ring is arranged on the upper disk seat; the gear ring is fixedly connected with the upper disc seat, and the upper part of the middle disc seat is fixedly provided with a sun wheel steering engine for driving the sun wheel; the guide wheel self-adaptive mechanism comprises a positioning groove chuck, a plurality of self-adaptive swing arms connected with the positioning groove chuck and a swing arm steering engine for driving the positioning groove chuck; one end of the self-adaptive swing arm is provided with a cleaning brush and a guide wheel with an upward oblique movement direction, one end of the self-adaptive swing arm is fixed with a positioning pin, the middle part of the self-adaptive swing arm is fixed on a planet carrier, and the planet carrier is provided with a swing arm mounting shaft for fixing the self-adaptive swing arm; the positioning groove chuck is provided with a radial clamping groove matched with the positioning pin.

Furthermore, a slip ring is arranged outside the gear ring, and an L-shaped slip ring line pipe is arranged on the planet carrier;

furthermore, a plurality of steering engine mounting columns are further arranged at the top of the planet carrier, and steering engine supporting tables are fixed on the steering engine mounting columns.

Furthermore, an L-shaped mounting rod for mounting the cleaning brush is arranged on the self-adaptive swing arm, and one end of the L-shaped mounting rod is fixed outside the self-adaptive swing arm.

Furthermore, the lead screw play block is in a herringbone shape, a threaded through hole matched with the lead screw is arranged in the middle of the lead screw play block, and U-shaped hinged portions for mounting connecting rods are arranged at the three side end portions of the herringbone shape of the lead screw play block.

Furthermore, a fixed shield and a sliding shield are arranged between the upper disk seat and the middle disk seat, and shield circular slide rails for mounting the sliding shields are respectively arranged on the upper disk seat and the middle disk seat.

The utility model has the advantages that:

1. the utility model discloses a leading wheel self-adaptation mechanism and supporting wheel self-adaptation mechanism can adapt to different pipe diameters according to pipeline automatically regulated.

2. The utility model discloses a plurality of initiative leading wheels spiral gos forward, has better climbing ability, and the design that many power distribute simultaneously can avoid appearing the condition emergence that power became invalid, lost control under the T type tee bend pipeline environment.

3. The utility model discloses a leading wheel self-adaptation mechanism, planet wheel actuating mechanism, supporting wheel self-adaptation mechanism's length and the ratio of pipe diameter are little, can change in special, complicated pipeline environment such as T type tee bend pipeline normal operating at wide-angle slope, multitube footpath, realize inspection and maintenance to this type of special, complicated environment pipeline.

4. Compared with the prior art, the utility model adopts a spiral advancing mode, the guide wheel self-adapting mechanism is always attached to the inner wall in the advancing process, the friction force between the robot and the inner wall of the pipeline is increased, and the robot overcomes the self gravity; and because the inclination angle between the advancing wheel installed on the robot and the horizontal is an acute angle, and the advancing track route of the active guide wheel on the guide wheel self-adaptive mechanism is not parallel to the central axis of the pipeline, when the robot slides downwards under the action of gravity, the friction force between the active guide wheel of the robot and the inner wall of the pipeline is not rolling friction but sliding friction larger than the rolling friction, and further the stable operation of the robot in the large-gradient inclined pipeline is realized.

5. The utility model discloses combine the leading wheel self-adaptation mechanism and the supporting wheel self-adaptation mechanism of design with iris structure and spiral wheel formula structure for the robot can carry out self-adaptation regulation according to the diameter size of pipeline under the different operational environment at work, has expanded the applied scene of robot, makes its applicable complicated pipeline environment that changes in many pipe diameters.

6. The utility model discloses a many places initiative leading wheel evenly distributed, the robot is with the also evenly distributed of force contact of pipeline inner wall, then the total many places of robot effectively advance power, when meetting the special T type tee bend pipeline condition, even the power that advances of a department became invalid, remaining power that advances also can support the pipeline robot to continue to advance, avoids the robot power to become invalid, and the uncontrollable condition takes place.

Drawings

FIG. 1 is a schematic view of the overall appearance structure of the present invention;

FIG. 2 is a schematic view of the overall appearance structure of the present invention with the protective cover removed;

FIG. 3 is a schematic structural diagram of the appearance of the guide wheel adaptive mechanism;

FIG. 4 is a schematic view of the profile structure of the guide wheel adaptive mechanism in another direction;

FIG. 5 is a schematic diagram of the configuration of the steering engine support table with the guide wheel adaptive mechanism removed;

FIG. 6 is a schematic structural diagram of the external shape of the planetary wheel driving mechanism;

FIG. 7 is a schematic view of the outer configuration of the planetary wheel drive mechanism in another direction;

FIG. 8 is a schematic structural view of the planetary drive mechanism with the carrier removed;

FIG. 9 is a schematic structural diagram of the adaptive mechanism of the support wheel;

FIG. 10 is a schematic view of the adaptive mechanism of the support wheel in another direction;

FIG. 11 is a schematic diagram of the shape of an adaptive swing arm;

wherein the symbols of the components are as follows;

1. an upper tray seat; 2. a middle disc seat; 3. a lower disc seat; 7. fixing the shield; 8. a sliding shield; 9. a shroud ring slide rail; 10. a slip ring; 11. a slip ring spool; 12. an upper support mounting post; 13. a lower support mounting post;

4. a planetary wheel drive mechanism; 41. a sun gear; 42. a planetary gear; 43. a ring gear; 44. a planet carrier; 45. a sun gear steering engine;

5. a guide wheel self-adaptive mechanism; 51. self-adaptive swing arm; 52. cleaning a brush; 53. a driving guide wheel; 54. positioning pins; 55. a positioning groove chuck; 56. a steering engine support table; 57. a swing arm steering engine; 58. a swing arm mounting shaft; 59. a steering engine mounting column;

6. a support wheel self-adapting mechanism; 62. a screw rod; 63. a screw rod play block; 64. a screw rod steering engine; 65. a V-shaped support arm; 66. a connecting rod; 67. a driven guide wheel.

Detailed Description

The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes may be made apparent to those skilled in the art within the spirit and scope of the present invention as defined and defined by the appended claims.

As shown in fig. 1 and 2, the spiral pipeline robot comprises an upper disc seat 1, a middle disc seat 2 and a lower disc seat 3, wherein the upper disc seat 1 is connected with the middle disc seat 2 through a plurality of upper support mounting columns 12, and the middle disc seat 2 is connected with the lower disc seat 3 through a plurality of lower support mounting columns; the upper disk seat 1 is provided with a planetary wheel driving mechanism 4, the planetary wheel driving mechanism 4 is provided with a guide wheel self-adapting mechanism 5, and a supporting wheel self-adapting mechanism 6 is arranged between the middle disk seat 2 and the lower disk seat 3.

As shown in fig. 3, 4, 5 and 6, the guide wheel adaptive mechanism 5 includes a positioning slot chuck 55, a plurality of adaptive swing arms 51 connected to the positioning slot chuck 55, and a swing arm steering engine 57 for driving the positioning slot chuck 55; one end of the self-adaptive swing arm 51 is provided with a cleaning brush 52 and a guide wheel 53 with an upward oblique movement direction, one end of the self-adaptive swing arm 51 is fixed with a positioning pin 54, the middle part of the self-adaptive swing arm 51 is fixed on the planet carrier 44, and the planet carrier 44 is provided with a swing arm mounting shaft 58 for fixing the self-adaptive swing arm 51; the positioning groove chuck 55 is provided with a radial clamping groove matched with the positioning pin 54. An L-shaped mounting rod for mounting the cleaning brush 52 is arranged on the self-adaptive swing arm 51, and one end of the L-shaped mounting rod is welded and fixed outside the self-adaptive swing arm 51. The structure of the adaptive swing arm 51 is shown in fig. 11. An acute angle is formed between the guide wheel 53 and the upper disc seat 1, and an included angle between the advancing direction of the guide wheel 53 and the rotating direction of the guide wheel 53 is an acute angle.

As shown in fig. 6, 7 and 8, the planetary wheel driving mechanism 4 includes a ring gear 43 mounted on the upper disk base 1, a sun gear 41, a plurality of planetary wheels 42 and a planetary carrier 44; the gear ring 43 is fixedly connected with the upper disc seat 1, and the upper part of the middle disc seat 2 is fixed with a sun wheel steering gear 45 for driving the sun wheel 41. The outer part of the ring gear 43 is also provided with a slip ring 10, and the planet carrier 44 is also provided with an L-shaped slip ring spool 11. A plurality of steering engine mounting posts 59 are also arranged at the top of the planet carrier 44, and a steering engine support platform 56 is fixed on the steering engine mounting posts 59.

As shown in fig. 9 and 10, the supporting wheel adaptive mechanism 6 includes a screw rod 62 penetrating through the middle disc seat 2 and the lower disc seat 3, the screw rod 62 is provided with a screw rod moving block 3, the screw rod 62 is in threaded fit with the screw rod moving block 3, the middle disc seat 2 is provided with a plurality of V-shaped supporting arms 65, one ends of the V-shaped supporting arms 65 are hinged on the middle disc seat 2, one ends of the V-shaped supporting arms 65 are provided with driven guide wheels 67, a connecting rod 66 is further provided between the V-shaped supporting arms 65 and the screw rod moving block 63, one end of the connecting rod 66 is hinged with the screw rod moving block 63, and the other end is hinged with the middle part of the V-shaped supporting arms 65. The screw rod play block 63 is in a herringbone shape, a threaded through hole matched with the screw rod 62 is arranged in the middle of the screw rod play block 63, and the U-shaped hinged parts for mounting the connecting rods 66 are arranged at the three side end parts of the herringbone of the screw rod play block 63.

Still be provided with fixed guard shield 7 and slip guard shield 8 between last disk seat 1 and well disk seat 2, the radius of fixed guard shield 7 is greater than the radius of slip guard shield 8, still be provided with the guard ring slide rail 9 of installation slip guard shield 8 on last disk seat 1 and the well disk seat 2 respectively, when slip guard shield 8 is fixed in guard ring slide rail 9, make slip guard shield 8 can slide and open, cooperation fixed guard shield 7 realizes separating with the external world the part between hanging disk seat 1 and well disk seat 2, impurity such as rubbish and sewage when avoiding clearing up the pipeline enters into the inside of robot, influence the normal operating of robot.

The working principle of the planetary wheel driving mechanism 4 is as follows: the sun gear steering engine 45 drives the sun gear 41 to rotate, the sun gear 41 is meshed with the plurality of planet gears 42, the planet gears 42 are meshed with the gear ring 43, the gear ring 43 is fixedly connected with the upper disc base 1, and the sun gear 41 drives the planet carrier 44 to rotate through the planet gears 42, so that the guide wheel self-adaptive mechanism 5 installed on the planet carrier 44 is driven to rotate.

The working principle of the guide wheel self-adaptive mechanism 5 is as follows: the steering engine support table 56 is fixed on the planet carrier 44 through a steering engine mounting column 59; the adaptive swing arm 51 is in a V shape, one end of the adaptive swing arm 51 is fixed with a positioning pin 54, the other end of the adaptive swing arm 51 is fixed with a cleaning brush 52 and a driving guide wheel 53, and the adaptive swing arm 51 is fixed on the planet carrier 44 through a swing arm mounting shaft 58; when a swing arm steering engine 57 fixed on a steering engine supporting table 56 rotates, the swing arm steering engine 57 drives a positioning groove chuck 55 to rotate, a positioning pin 54 radially moves under the action of a radial through hole on the positioning groove chuck 55, so that the positioning pin 54 is driven to move, the adaptive swing arm 51 is driven to rotate around a swing arm mounting shaft 58, the active guide wheels 53 at the end part of the adaptive swing arm 51 extend or contract outwards, annular supporting surfaces are formed outside a plurality of active guide wheels 53, and pipelines with different pipe diameters are adapted to be supported; thereby realize utilizing sun gear steering wheel 45 to realize the spiral and advance and clean cleaning of pipe wall, utilize swing arm steering wheel 57 to drive self-adaptation swing arm 51 and expand or contract, similar to the iris disk expanding mechanism of camera to in order to use the pipeline of different pipe diameters, leading wheel self-adaptation mechanism 5 enables initiative leading wheel 53 and pipe inner wall closely to laminate simultaneously, thereby guarantees that initiative leading wheel 53 can not appear skidding phenomenon at the in-process that the spiral advances.

The working principle of the supporting wheel self-adaptive mechanism 6 is as follows: two ends of a screw rod 62 are movably connected to the middle disc seat 2 and the lower disc seat 3 to be capable of rotating, the upper part of the screw rod 62 is connected with a screw rod steering engine 64, and the screw rod steering engine 64 drives the screw rod 62 to rotate when rotating, so that a screw rod sliding block 63 is driven to move; the concave side of the V-shaped supporting arm 65 faces outwards, one end of the V-shaped supporting arm 65 is hinged to the middle disc seat 2, a driven guide wheel 67 is mounted at one end of the V-shaped supporting arm 65, the middle of the V-shaped supporting arm 65 is hinged to the screw rod moving block 63 through a connecting rod 66, and two ends of the connecting rod 66 are hinged to the V-shaped supporting arm 65 and the screw rod moving block 63 respectively; thereby lead screw trip piece 63 reciprocates when, drives V-arrangement support arm 65's middle part radial movement to realize V-arrangement support arm 65 and driven leading wheel 67 and outwards expand or shrink, thereby the annular spigot surface that a plurality of driven leading wheels 67 formed contacts with the pipeline inner wall, thereby makes a plurality of driven leading wheels 67 laminate with the inside pipe wall all the time, utilizes lead screw steering wheel 64 to realize that driven leading wheel 67 removes, with the pipeline of adaptation different pipe diameters.

Claims (8)

1. A spiral pipeline robot is characterized by comprising an upper disc seat (1), a middle disc seat (2) and a lower disc seat (3), wherein the upper disc seat (1) is connected with the middle disc seat (2) through a plurality of upper support mounting columns (12), and the middle disc seat (2) is connected with the lower disc seat (3) through a plurality of lower support mounting columns; go up and be provided with planet wheel actuating mechanism (4) on dish seat (1), install leading wheel self-adaptation mechanism (5) on planet wheel actuating mechanism (4), be provided with between well dish seat (2) and lower wall seat (3) supporting wheel self-adaptation mechanism (6).

2. The spiral pipeline robot according to claim 1, wherein the supporting wheel self-adapting mechanism (6) comprises a screw rod (62) which is penetratingly installed on the middle disk seat (2) and the lower disk seat (3), a screw rod moving block (63) is arranged on the screw rod (62), the screw rod (62) is in threaded fit with the screw rod moving block (63), a plurality of V-shaped supporting arms (65) are arranged on the middle disk seat (2), one ends of the V-shaped supporting arms (65) are hinged on the middle disk seat (2), one ends of the V-shaped supporting arms are provided with driven guide wheels (67), a connecting rod (66) is further arranged between the V-shaped supporting arms (65) and the screw rod moving block (63), one end of the connecting rod (66) is hinged with the screw rod moving block (63), and the other end of the connecting rod is hinged with the middle part of the V-shaped supporting arms (65).

3. The spiral pipeline robot of claim 1, wherein the planetary wheel driving mechanism (4) comprises a gear ring (43), a sun wheel (41), a plurality of planetary wheels (42) and a planetary carrier (44) which are arranged on the upper disk seat (1); the gear ring (43) is fixedly connected with the upper disc seat (1), and a sun wheel steering engine (45) for driving the sun wheel (41) is fixed on the upper part of the middle disc seat (2); the guide wheel self-adaptive mechanism (5) comprises a positioning groove chuck (55), a plurality of self-adaptive swing arms (51) connected with the positioning groove chuck (55) and a swing arm steering engine (57) for driving the positioning groove chuck (55); one end of the self-adaptive swing arm (51) is provided with a cleaning brush (52) and a driving guide wheel (53) with an oblique upward movement direction, one end of the self-adaptive swing arm (51) is fixed with a positioning pin (54), the middle part of the self-adaptive swing arm (51) is fixed on the planet carrier (44), and the planet carrier (44) is provided with a swing arm mounting shaft (58) for fixing the self-adaptive swing arm (51); and a radial clamping groove matched with the positioning pin (54) is formed in the positioning groove chuck (55).

4. The spiral pipeline robot according to claim 3, wherein a plurality of steering engine mounting posts (59) are further arranged on the top of the planet carrier (44), and a steering engine support platform (56) is fixed on the steering engine mounting posts (59).

5. The spiral pipeline robot according to claim 3, wherein the adaptive swing arm (51) is provided with an L-shaped mounting rod for mounting the cleaning brush (52), and one end of the L-shaped mounting rod is fixed outside the adaptive swing arm (51).

6. The spiral pipeline robot according to claim 3, wherein the outer part of the gear ring (43) is further provided with a slip ring (10), and the planet carrier (44) is further provided with an L-shaped slip ring line pipe (11).

7. The spiral pipe robot according to claim 2, wherein the screw traveling block (63) is formed in a herringbone shape, a threaded through hole engaged with the screw (62) is provided in the middle of the screw traveling block (63), and the screw traveling block (63) is provided with a U-shaped hinge portion at three side ends of the herringbone shape to mount the connecting rod (66).

8. The spiral pipeline robot according to claim 1, characterized in that a fixed shield (7) and a sliding shield (8) are further disposed between the upper tray (1) and the middle tray (2), and shield circular slide rails (9) for mounting the sliding shield (8) are further disposed on the upper tray (1) and the middle tray (2), respectively.

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