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A walking steering structure and a pipeline robot based on the structure

A pipeline robot and machine body technology, applied in the direction of pipe components, special pipes, mechanical equipment, etc., can solve problems such as bulky, complex power structure, and difficulty in the application of pipeline robots

Active Publication Date: 2022-07-12
SOUTHWEST PETROLEUM UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Especially for oil and gas pipelines, ordinary arcs and S-shaped curves are rarely used, and a large number of right-angled curves and T-shaped curves are used in engineering sites, which undoubtedly adds difficulty to the application of pipeline robots in the field of oil and gas pipelines
[0003] In the existing technology, the cornering methods of pipeline robots are mainly divided into passive and active two types: (1) Passive steering generally gives the wheels a certain degree of adaptability, and the reaction force of the pipe wall to the wheels forcibly changes the direction of the robot. The steering method has good adaptability to arc or S-shaped curves, but it is difficult to pass through right-angled curves and T-shaped curves; (2) Active steering generally adopts the principle of differential speed, that is, the wheels along the inner and outer diameters of the curve are respectively given Different rotating speeds use the different walking speeds of the inner and outer diameters to achieve the steering effect. This steering method still has a certain dependence on the reaction force of the pipe wall. It is still relatively large; and adopting the principle of differential speed between inner and outer diameters inevitably requires different power drives for the inner and outer wheels, resulting in a large number of power equipment and increasing the hidden danger of equipment failure. Once the pipeline robot has a walking failure during the work process, it will be very difficult take out
[0004] In addition, if the pipeline robot in the prior art wants to achieve stable reversing walking in the pipeline, its dynamic structure is very complicated, resulting in bloated robot equipment, bulky, heavy weight and small load, which is not conducive to the pipeline robot Carrying more working equipment seriously restricts the functionality of the pipeline robot

Method used

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  • A walking steering structure and a pipeline robot based on the structure
  • A walking steering structure and a pipeline robot based on the structure
  • A walking steering structure and a pipeline robot based on the structure

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0094] like figure 1 , figure 2 and image 3 The shown kind of walking steering structure includes a roller 1 with a pulley shaft 2, a connecting member 3 that is rotatably matched with the wheel shaft 2, a turntable 4 that is fixedly connected with the connecting member 3, and a No. 1 for driving the wheel shaft 2 to rotate around its own axis. A transmission assembly, a second transmission assembly for driving the turntable 4 to rotate around its own axis; the axis of the axle 2 and the axis of the turntable 4 are coplanar and perpendicular.

[0095] Wherein, the first transmission assembly and the second transmission assembly can provide power in any existing manner.

Embodiment 2

[0097] A walking steering structure, on the basis of Embodiment 1, the first transmission assembly includes a first rotating shaft 5, a first bevel gear 6 fixedly sleeved on the first rotating shaft 5, meshing with the first bevel gear 6 and fixedly sleeved. The second bevel gear 8 set on the second rotating shaft 7, the first gear 9 fixedly sleeved on the second rotating shaft 7, the second gear 10 meshing with the first gear 9 and fixedly sleeved on the axle 2; The axes of the two rotating shafts 7 are parallel to the axes of the axles 2 .

[0098] Both ends of the axle 2 are provided with connecting pieces 3, and both connecting pieces 3 pass through the turntable 4 and are rotatably matched with the second rotating shaft 7; the turntable 4 is provided with a limiting device 401 for fixing the connecting piece 3; the connecting piece 3 and the axle 2 , the second shaft 7 are connected by bearings.

[0099] The second transmission assembly includes a fixed third gear 11 coa...

Embodiment 3

[0102] A pipeline robot such as Figure 5 and Image 6 As shown, the body 14 is included, and the body 14 is connected with two walking steering structures facing each other; the walking steering structures are as described in the second embodiment.

[0103] Inside the body 14 is a motor 15, a transmission shaft 16 connected to the output end of the motor 15, and a shifting mechanism matched with the transmission shaft 16; it also includes a third transmission assembly and a fourth transmission assembly matched with the shifting mechanism. The three transmission assemblies cooperate with the first transmission assembly, and the fourth transmission assembly cooperates with the second transmission assembly;

[0104] When the shifting mechanism cooperates with the third transmission assembly, the third transmission assembly is driven by the transmission shaft 16, drives the first transmission assembly to act, and drives the axle 2 to rotate around its own axis;

[0105] When th...

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Abstract

The invention discloses a walking steering structure and a pipeline robot based on the structure, comprising a roller with a wheel shaft, a connecting piece rotatably matched with the wheel shaft, and a turntable fixedly connected with the connecting piece for driving the A first transmission assembly for the wheel shaft to rotate around its own axis, and a second transmission assembly for driving the turntable to rotate around its own axis; the axis of the wheel shaft and the axis of the turntable are coplanar and perpendicular. The present invention provides a walking steering structure and a pipeline robot based on the structure. One of the technical problems to be solved is the above-mentioned bending problem of the pipeline robot in the prior art, so that the pipeline robot has the ability to stably pass through right-angle bends and T-shaped bends. ability.

Description

technical field [0001] The invention relates to the field of oil and gas pipelines, in particular to a walking steering structure and a pipeline robot based on the structure. Background technique [0002] With the laying of a large number of oil and gas pipelines, regular inspection and maintenance of these oil and gas pipelines has become particularly important. Pipeline robots are one of the important means to carry out this kind of work. They can carry various working equipment into the pipeline for flaw detection, Repair, maintenance, etc. Since the oil and gas pipeline cannot always be kept straight, it may have various types of bends, such as curved bends, S-shaped bends, right-angle bends, T-shaped bends, etc., so when the pipeline robot walks in the pipeline The cornering ability is an important indicator that affects its working ability. Especially for oil and gas pipelines, ordinary arcs and S-shaped bends are rarely used, and right-angle bends and T-shaped bends...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): F16L55/32F16L101/10F16L101/30
CPCF16L55/32F16L2101/30F16L2101/10
Inventor 王国荣廖红林胡刚程灵刘冠驿李永瑞
Owner SOUTHWEST PETROLEUM UNIV