Self-adaptive variable-diameter pipeline operation advancing device

Abstract

The utility model belongs to the technical field of pipeline operation, and particularly relates to a self-adaptive variable-diameter pipeline operation advancing device which comprises two driving seats, a mounting seat, a mounting shaft, a plurality of connecting shafts, a fixing bolt, a fixing mechanism, an advancing mechanism and a movable operation mechanism. One ends of the two driving seats are connected through a mounting shaft, and the other ends are connected through fixing bolts; one ends of the two mounting seats are connected through a mounting shaft, and the other ends are connected through a fixing mechanism; the driving seat and the mounting seat are connected through a plurality of connecting shafts, an advancing mechanism is arranged on the inner side of the driving seat, and a movable operation mechanism is arranged on the mounting seat. According to the device, the advancing mechanism and the moving operation mechanism are arranged, so that the device can move on pipelines with different diameters, meanwhile, the effect that the outer side walls of the pipelines can be movably machined or detected can be achieved, and then operation can be conducted on areas where workers cannot reach.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline operation, and in particular relates to an adaptive variable-diameter pipeline operation traveling device. Background Art

[0002] Pipeline robots are mainly used for pipeline inspection, pipeline cleaning and pipeline repair. They have been developed in my country for more than 20 years. Pipeline cleaning robots are special operation robots used for pipeline cleaning. Large pipeline cleaning robots are mainly used for cleaning oil transportation pipelines in engineering projects. They are mainly wheel-driven in configuration. Small and medium-sized pipeline cleaning robots are mainly used for cleaning small-diameter daily life pipelines. Small and medium-sized pipeline cleaning robots are represented by serpentine wheel pipeline cleaning robots. They have been widely studied in recent years and the technology has gradually matured. In the prior art, there is little research on robot devices operating outside pipelines, and such devices have the disadvantage of being difficult to adapt to pipelines of different sizes, and they can only carry out processing operations such as inspection or grinding at a single location. Utility Model Content

[0003] The utility model proposes an adaptive variable-diameter pipeline operation traveling device, which is used to solve the problems in the prior art that robots for pipeline external operations cannot adapt to pipelines of different sizes and can only carry out processing operations such as inspection or grinding at a single position.

[0004] The technical solution of this utility model:

[0005] The utility model proposes an adaptive variable-diameter pipeline operation traveling device, which comprises two driving seats, two mounting seats, a mounting shaft, a plurality of connecting shafts, fixing bolts, a fixing mechanism, a traveling mechanism and a mobile operating mechanism. Both the driving seat and the mounting seat are semicircular ring structures, one end of the two driving seats is connected by the mounting shaft, and the other end is connected by the fixing bolt; one end of the two mounting seats is connected by the mounting shaft, and the other end is connected by the fixing mechanism; the driving seat and the mounting seat are connected by a plurality of connecting shafts, a traveling mechanism is arranged on the inner side of the driving seat, and a mobile operating mechanism is arranged on the mounting seat.

[0006] In some embodiments, the traveling mechanism includes two clamping blocks, two electric telescopic rods A and moving wheels. The two electric telescopic rods A symmetrically penetrate the driving seat. The output end of the electric telescopic rod A on the inner side of the driving seat is connected to the clamping block. The clamping block is an arc-shaped structure. A moving wheel is provided on the inner side of the clamping block. The rotating moving wheel drives the device to move on the pipeline.

[0007] In some embodiments, the mobile operating mechanism includes a rotating platform, a mounting table, two mounting rings, two transmission gear rings, a driving motor and a moving gear. The mounting ring is a semicircular ring structure. The two mounting rings are respectively fixedly mounted on two mounting seats, and the transmission gear ring is embedded and installed at the lower end of the mounting ring; the rotating platform is a semicircular plate, and the rotating platform is movably mounted on the mounting seat. The driving motor is embedded and installed on the rotating platform. The output end of the driving motor is provided with a moving gear, and the moving gear is meshed with the transmission gear ring for transmission. The driving motor drives the rotating platform to perform circular motion on the mounting ring through the transmission gear ring; the mounting table is fixedly installed on the rotating platform, and the mounting table is used to install an ultrasonic probe to detect the inside of the pipeline, or to install a grinder to grind the outer wall of the pipeline, or to install a painting tool to paint the outer wall of the pipeline.

[0008] In some embodiments, the fixing mechanism includes a fixing block, an insertion rod and a fixing magnet. The two mounting seats are connected by the fixing mechanism at one end and have a rectangular fixing groove, and a cylindrical slot is opened in the center of the fixing groove. The fixing block has the same shape as the fixing groove, and an insertion rod is provided at the bottom end of the fixing block, and the insertion rod corresponds to the position and shape of the slot. A fixing magnet is provided on the side of the fixing block, and the fixing magnet is embedded and installed inside the fixing groove, and the fixed magnet fixes the fixing block inside the fixing groove.

[0009] In some embodiments, a clamping mechanism is provided on the mounting table, and the clamping mechanism includes an electric telescopic rod B, a clamping seat, a clamping plate and an adjusting bolt. The electric telescopic rod B is fixed to the upper end of the mounting table, and a clamping seat is provided at the output end of the electric telescopic rod B. The clamping seat is a hollow rectangular structure, and clamping plates are respectively provided on both sides of the clamping seat. The clamping seat and the clamping plate are connected by an adjusting bolt. The adjusting bolt controls the movement of the clamping plate by rotating the thread, and clamps and fixes different tools.

[0010] In some embodiments, a limit rod is embedded and installed between the driving seat and the clamping block. The limit rod is a retractable structure. When the clamping block moves, the limit rod retracts and contracts with the movement of the clamping block, and the limit rod limits the clamping block.

[0011] In some embodiments, a distance sensor is provided on the inner side of the clamping block, and the distance sensor is electrically connected to the electric telescopic rod A. The distance sensor detects the distance between the clamping block and the outer wall of the pipe, and the electric telescopic rod A adjusts the position of the clamping block according to the detection result.

[0012] In some embodiments, a pressure sensor is provided inside the clamping block. When the moving wheel contacts the pipe, the pressure sensor is triggered and the electric telescopic rod A stops extending and retracting.

[0013] In some embodiments, limiting grooves are provided on the outer walls of the two mounting seats, and the limiting grooves are circular structure grooves; sliding rods are respectively provided on both sides of the mounting platform, and springs are sleeved on the sliding rods. One end of the sliding rod is located inside the sliding rod limiting groove. When the rotating platform moves on the mounting seat, the sliding rod moves inside the limiting groove, and the sliding rod guides and limits the movement of the rotating platform.

[0014] Beneficial effects of the utility model:

[0015] The utility model proposes an adaptive variable diameter pipeline operation traveling device. The device is provided with a traveling mechanism, which can fix the device on pipelines with different diameters for movement. The device is also provided with a moving operation mechanism, which can make the rotating platform perform circular motion on the mounting ring. At this time, the tool installed on the mounting platform can detect or process the pipeline, so that the device can move on pipelines with different diameters and can also perform mobile processing or detection on the outer wall of the pipeline, thereby being able to operate in areas that are inaccessible to humans, solving the problem that it is difficult to operate in positions on the pipeline that are inaccessible to humans. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of an adaptive variable diameter pipeline operation traveling device provided in an embodiment of the utility model;

[0017] Figure 2 It is a schematic diagram of the structure of a rotary moving operation mechanism of an adaptive variable diameter pipeline operation traveling device provided in an embodiment of the utility model;

[0018] Figure 3 It is provided in the embodiment of the utility model Figure 1 Enlarged view of point A in the middle;

[0019] Figure 4 It is provided in the embodiment of the utility model Figure 1 Enlarged view of point B in the middle;

[0020] Description of the drawings: 1. Driving seat; 2. Mounting seat; 3. Mounting shaft; 4. Connecting shaft; 5. Clamping block; 6. Electric telescopic rod A; 7. Moving wheel; 8. Distance sensor; 9. Limiting rod; 10. Rotating platform; 11. Mounting table; 12. Mounting ring; 13. Transmission gear ring; 14. Driving motor; 15. Moving gear; 16. Limiting groove; 17. Sliding rod; 18. Spring; 19. Fixing bolt; 20. Fixing groove; 21. Fixing block; 22. Inserting rod; 23. Slot; 24. Fixed magnetic block; 25. Electric telescopic rod B; 26. Clamping seat; 27. Clamping plate; 28. Adjusting bolt. DETAILED DESCRIPTION

[0021] The utility model is described in detail below with reference to the accompanying drawings and embodiments.

[0022] like Figures 1 to 4 As shown, the utility model proposes an adaptive variable diameter pipeline operation traveling device, which includes two driving seats, two mounting seats, a mounting shaft, a plurality of connecting shafts, fixing bolts, a fixing mechanism, a traveling mechanism and a mobile operating mechanism. The driving seat and the mounting seat are both semicircular ring structures. One end of the two driving seats is connected by the mounting shaft, and the other end is connected by the fixing bolt; one end of the two mounting seats is connected by the mounting shaft, and the other end is connected by the fixing mechanism; the driving seat and the mounting seat are connected by a plurality of connecting shafts, and the connecting shaft 4 is a cylindrical structure. The inner side of the driving seat is provided with a traveling mechanism, and the mounting seat is provided with a mobile operating mechanism. The traveling mechanism includes two clamping blocks, two electric telescopic rods A and moving wheels. The two electric telescopic rods A symmetrically penetrate the driving seat. The electric telescopic rod A is connected to the clamping block at the output end inside the driving seat. The clamping block is an arc structure. The inner side of the clamping block is provided with a moving wheel. The surface of the moving wheel 7 is made of rubber material. The rotating moving wheel drives the device to move on the pipeline. A limit rod is embedded and installed between the driving seat and the clamping block. The limit rod is a retractable structure. When the clamping block moves, the limit rod retracts and contracts with the movement of the clamping block, and the limit rod limits the clamping block. A distance sensor is provided on the inner side of the clamping block. The distance sensor is electrically connected to the electric telescopic rod A. The distance sensor detects the distance between the clamping block and the outer wall of the pipe. The electric telescopic rod A adjusts the position of the clamping block according to the detection result. A pressure sensor is provided inside the clamping block. When the moving wheel contacts the pipe, the pressure sensor is triggered, and the electric telescopic rod A stops retracting. This device is provided with a travel mechanism, which can fix the device on pipes of different diameters for movement.

[0023] In some embodiments, the mobile operation mechanism includes a rotating platform, a mounting platform, two mounting rings, two transmission gear rings, a driving motor and a moving gear. The mounting ring is a semicircular ring structure. The two mounting rings are fixedly mounted on two mounting seats respectively, and the lower end of the mounting ring is inlaid with a transmission gear ring. The rotating platform is a semicircular plate, and the rotating platform is movably mounted on the mounting seat. The driving motor is inlaid on the rotating platform. The output end of the driving motor is provided with a moving gear, and the moving gear is meshed with the transmission gear ring for transmission, so that when the driving seat 1 and the mounting seat 2 move on the pipeline, the driving motor 14 can be started at this time, and the driving motor 14 will drive the moving gear 15 to rotate, and the moving gear 15 is meshed with the transmission gear ring 13 for transmission, and the transmission gear ring 13 cannot rotate, so that the rotating platform 10 will perform a circular motion on the outer wall of the mounting ring 12, and the tool installed on the mounting platform 11 can detect or process the pipeline. The mounting platform is fixedly installed on the rotating platform, and the mounting platform is used to install an ultrasonic probe to detect the inside of the pipeline, or to install a grinder to grind the outer wall of the pipeline, or to install a painting tool to paint the outer wall of the pipeline. The mounting table is provided with a clamping mechanism, which includes an electric telescopic rod B, a clamping seat, a clamping plate and an adjusting bolt. The electric telescopic rod B is fixed on the upper end of the mounting table. The output end of the electric telescopic rod B is provided with a clamping seat. The clamping seat is a hollow rectangular structure. Clamping plates are provided on both sides of the clamping seat. The clamping seat and the clamping plate are connected by adjusting bolts. The adjusting bolts are used to control the movement of the clamping plate by rotating the thread and clamp and fix different tools. The device is provided with a mobile operation mechanism, which can make the rotating platform perform circular motion on the mounting ring. At this time, the tools installed on the mounting table can detect or process the pipeline, so that the device can be moved on pipelines of different diameters, and the outer wall of the pipeline can also be moved for processing or detection, so that the area that cannot be reached by humans can be operated, which solves the problem that it is difficult to operate in the position that cannot be reached by humans on the pipeline.

[0024] In some embodiments, the fixing mechanism includes a fixing block, an insertion rod and a fixing magnet. The two mounting seats are connected by the fixing mechanism at one end and have a rectangular fixing groove, and a cylindrical slot is opened in the center of the fixing groove. The fixing block has the same shape as the fixing slot, and an insertion rod is provided at the bottom end of the fixing block, and the insertion rod corresponds to the position and shape of the slot. A fixing magnet is provided on the side of the fixing block, and the fixing magnet is embedded in the fixing block and the fixing groove, and the fixed magnet fixes the fixing block inside the fixing groove.

[0025] In some embodiments, limiting grooves are provided on the outer walls of the two mounting seats, and the limiting grooves are circular structure grooves; sliding rods are respectively provided on both sides of the mounting platform, and springs are sleeved on the sliding rods. One end of the sliding rod is located inside the sliding rod limiting groove. When the rotating platform moves on the mounting seat, the sliding rod moves inside the limiting groove, and the sliding rod guides and limits the movement of the rotating platform.

[0026] The utility model proposes an adaptive variable diameter pipeline operation traveling device, and the specific working method of the device is:

[0027] The device is placed on the pipeline, and the electric telescopic rod A6 is started. The electric telescopic rod A6 drives the clamping block 5 to move in the direction of the pipeline. When the clamping block 5 moves to the point where its moving wheel 7 contacts the pipeline, the pressure sensor is triggered, and the electric telescopic rod A6 stops moving, and the clamping block 5 also stops moving. At this time, the drive seat 1 is clamped and fixed on the pipeline, and the motor inside the clamping block 5 is started. The motor drives the moving wheel 7 to rotate, and the rotation of the moving wheel 7 drives the drive seat 1 to move on the pipeline. At the same time, the drive motor 14 is started, and the drive motor 14 drives the moving gear 15 to rotate, and the moving gear 15 and the transmission gear ring 13 are meshed and transmitted, so that the rotating platform 10 will perform a circular motion on the outer wall of the mounting ring 12. At this time, the tool installed on the mounting platform 11 can detect or process the pipeline, so that the device can be moved on pipelines of different sizes, and the outer wall of the pipeline can also be moved, processed or detected. Then, the device can operate in areas that cannot be reached by humans, which is more convenient.

[0028] The embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. An adaptive variable diameter pipeline operation traveling device, characterized in that: The device includes two driving seats, two mounting seats, a mounting shaft, a plurality of connecting shafts, fixing bolts, a fixing mechanism, a traveling mechanism and a mobile operating mechanism, the driving seat and the mounting seat are both semicircular ring structures, one end of the two driving seats are connected by the mounting shaft, and the other end is connected by the fixing bolt; one end of the two mounting seats is connected by the mounting shaft, and the other end is connected by the fixing mechanism; a limiting groove is provided on the outer wall of the two mounting seats, and the limiting groove is a circular ring structure groove; the driving seat and the mounting seat are connected by a plurality of connecting shafts, the traveling mechanism is provided on the inner side of the driving seat, and the mobile operating mechanism is provided on the mounting seat; the traveling mechanism includes two clamping blocks, two electric telescopic rods A and mobile wheels, the two electric telescopic rods A symmetrically pass through the driving seat, and the electric telescopic rod A is on The output end on the inner side of the driving seat is connected to the clamping block, and the clamping block is an arc-shaped structure. A moving wheel is provided on the inner side of the clamping block, and the rotation of the moving wheel drives the device to move on the pipeline; a limit rod is inlaid and installed between the driving seat and the clamping block, and the limit rod is a retractable structure. When the clamping block moves, the limit rod is retracted and extended along with the movement of the clamping block, and the limit rod limits the clamping block; a distance sensor is provided on the inner side of the clamping block, and the distance sensor is electrically connected to the electric telescopic rod A. The distance sensor detects the distance between the clamping block and the outer wall of the pipeline, and the electric telescopic rod A adjusts the position of the clamping block according to the detection result; a pressure sensor is provided inside the clamping block, and when the moving wheel contacts the pipeline, the pressure sensor is triggered, and the electric telescopic rod A stops retracting.

2. The adaptive variable diameter pipeline operation traveling device according to claim 1 is characterized in that: The mobile operating mechanism includes a rotating platform, a mounting platform, two mounting rings, two transmission gear rings, a driving motor and a moving gear. The mounting ring is a semicircular ring structure. The two mounting rings are respectively fixedly mounted on the two mounting seats, and the transmission gear ring is embedded and mounted on the lower end of the mounting ring; the rotating platform is a semicircular plate, and the rotating platform is movably mounted on the mounting seat. The driving motor is embedded and mounted on the rotating platform. The output end of the driving motor is provided with the moving gear, and the moving gear is meshed with the transmission gear ring for transmission. The driving motor drives the rotating platform to perform circular motion on the mounting ring through the transmission gear ring; the mounting platform is fixedly mounted on the rotating platform, and the mounting platform is used to install an ultrasonic probe to detect the inside of the pipeline, or to install a grinder to grind the outer wall of the pipeline, or to install a painting tool to paint the outer wall of the pipeline.

3. The adaptive variable diameter pipeline operation traveling device according to claim 1, characterized in that: The fixing mechanism comprises a fixing block, an insertion rod and a fixing magnet. A rectangular fixing groove is respectively provided at one end of the two mounting seats connected by the fixing mechanism, and a cylindrical slot is provided in the center of the fixing groove. The fixing block has the same shape as the fixing slot, and an insertion rod is provided at the bottom end of the fixing block, and the insertion rod corresponds to the position and shape of the slot. The fixing magnet is provided on the side of the fixing block, and the fixing magnet is embedded and installed inside the fixing slot, and the fixing magnet fixes the fixing block inside the fixing slot.

4. The adaptive variable diameter pipeline operation traveling device according to claim 2, characterized in that: A clamping mechanism is provided on the mounting platform, and the clamping mechanism includes an electric telescopic rod B, a clamping seat, a clamping plate and an adjusting bolt. The electric telescopic rod B is fixed to the upper end of the mounting platform, and the clamping seat is provided at the output end of the electric telescopic rod B. The clamping seat is a hollow rectangular structure, and the clamping plates are respectively provided on both sides of the clamping seat. The clamping seat and the clamping plate are connected by the adjusting bolt, and the adjusting bolt controls the movement of the clamping plate by rotating the thread, and clamps and fixes different tools.

5. The adaptive variable diameter pipeline operation traveling device according to claim 2, characterized in that: Slide bars are respectively provided on both sides of the mounting platform, and springs are sleeved on the slide bars. One end of the slide bar is located inside the slide bar limiting groove. When the rotating platform moves on the mounting seat, the slide bar moves inside the limiting groove, and the slide bar guides and limits the movement of the rotating platform.

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