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Screw type pipeline travel mechanism

A moving mechanism and spiral technology, applied in the direction of special pipes, pipe components, mechanical equipment, etc., can solve the problems of being stuck in the middle of the pipe, difficult rescue work, and robots cannot cross over, etc., to achieve strong adaptability

Inactive Publication Date: 2011-08-03
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this mechanism can realize forward and backward movement in the pipeline, when there are foreign objects or obstacles in the pipeline, the robot often cannot cross the obstacle
If there is no special protection, it is easy to get stuck in the middle of the pipeline; and because this kind of mobile mechanism has its own power supply and has no physical connection with the outside world, when the robot is stuck in the middle of the pipeline, it brings difficulties to the rescue work

Method used

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  • Screw type pipeline travel mechanism
  • Screw type pipeline travel mechanism
  • Screw type pipeline travel mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0020] Embodiment 1: as Figure 1 ~ Figure 4 , Figure 8 As shown, the present invention includes a forward drive mechanism 1, a reverse drive mechanism 2, a support mechanism 3, a transmission mechanism, a linkage mechanism and a locking mechanism. The transmission mechanism is connected with the motor 4 in the support mechanism 3, and a locking mechanism and a linkage mechanism are installed between the forward drive mechanism 1 and the first transmission mechanism, and a friction force adjustment mechanism is connected to the backward drive mechanism 2.

[0021] Such as figure 1 , image 3 As shown, wherein said forward drive mechanism 1 comprises front wheel frame 8, three forward drive arms 7 uniformly distributed along its circumference, and one passive roller 35 is installed on each forward drive arm, and the rolling of said passive roller 35 The axis and the pipe section form an angle of 0 to 45 degrees. The backward driving mechanism 2 includes a rear wheel frame ...

Embodiment 2

[0025] Embodiment 2: The moving mechanism of this example is identical in structure with Embodiment 1, and the difference is: in the forward driving mechanism 1, the forward driving arm 7 is evenly distributed along the circumference of the front wheel frame 8, and the passive roller 35 on each forward driving arm 7 1; in the retreat driving mechanism 2, there are 5 retreat driving arms 6 evenly distributed along the circumference of the rear wheel frame 9, and there are 2 passive rollers 35 of each retreat driving arm 6; in the support mechanism 3, the support arm 5 is arranged along the outer frame of the support mechanism There are 6 evenly distributed around the circumference, and there are 2 support wheels 36 of each support arm 5 .

Embodiment 3

[0026] Embodiment 3: the moving mechanism of this example is identical in structure with embodiment 1, and the difference is: in the forward driving mechanism 1, the forward driving arm 7 is evenly distributed along the circumference of the front wheel frame 8, and the passive roller 35 on each forward driving arm 7 There are 2; in the rear driving mechanism 2, there are 6 retreating driving arms 6 evenly distributed along the circumference of the rear wheel frame 9, and there are 2 passive rollers 35 of each retreating driving arm 6; in the supporting mechanism 3, the supporting arm 5 is along the outer frame of the supporting mechanism There are 6 evenly distributed around the circumference, and the support wheels 36 of each support arm 5 are 4.

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PUM

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Abstract

The invention relates to a screw type pipeline travel mechanism, belonging to the technical field of pipeline robot engineering. The mechanism comprises an advancing drive mechanism, a receding drive mechanism, a supporting mechanism, a transmission mechanism, a link gear and retaining mechanism; the advancing drive mechanism is connected with the receding drive mechanism by a first transmission mechanism and is connected with an electric motor in the supporting mechanism by a second transmission mechanism; the link gear and the retaining mechanism are arranged between the advancing drive mechanism and the first transmission mechanism and a frictional force adjusting mechanism is connected with the receding drive mechanism. The invention features good adaptability in that the mechanical part is employed to automatically adjust movement direction to avoid items from being stuck in the pipeline; in addition, the link gear is employed to realize synchronous motion of an actuating arm; moreover, as the screw type pipeline travel mechanism is provided with the retaining mechanism, so when the actuating arm encounters barriers and contracts to the center of the pipeline, the retaining mechanism limits rotation of the advancing drive arm, at the moment, power output changes to another path, the receding drive arm rotates and generates backward driving force; at the moment the robot moves in the opposite direction.

Description

technical field [0001] The invention belongs to the technical field of pipeline robot engineering, and in particular relates to a spiral pipeline moving mechanism for detecting operations in pipelines. Background technique [0002] With the development of economy and society, pipelines have been widely used as the main fluid (natural gas, oil, water, etc.) transportation tools because of their convenience and economy. However, as the service life increases, the pipeline will inevitably age, corrode or be damaged by external construction. If it is not dealt with in time, once an accident occurs, it will not only bring huge economic losses to the country, but also cause serious pollution to the environment. Therefore, it is very necessary to carry out regular inspection and maintenance on the pipeline. A pipeline inspection robot is an effective device for inspecting pipelines. At present, the movement forms of the in-pipe walking mechanism used for pipeline exploration rob...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/32F16L101/30
Inventor 马书根李斌叶长龙李鹏王聪李志强
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI