Self-adaptive variable-pipe-diameter pipeline robot device
By using an adaptive variable pipe diameter pipeline robot device, which utilizes compression springs and worm gear transmission, the problem of adaptability of pipeline robots at different pipe diameters and bends is solved, and efficient movement in complex pipelines is achieved.
Patent Information
- Application Number
- CN202422824829.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-20
- Publication Date
- 2026-01-20
- Estimated Expiration
- 2034-11-20
AI Technical Summary
Existing pipeline robots are prone to getting stuck at pipe bends and have difficulty adapting to different pipe diameters, which limits their application.
An adaptive variable pipe diameter pipe robot device was designed, which uses compression springs and worm gear transmission, combined with servo motor drive, to achieve close contact of the wheels with pipes of different diameters and differential speed cornering.
This improves the pipeline robot's ability to navigate through pipes of different diameters, prevents wheel slippage, and enables free movement in complex pipeline environments.
Smart Images
Figure CN223814478U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to wall -climbing robot technical field, concretely relates to a pipeline robot device of self -adaptation variable pipe diameter. BACKGROUND
[0002] A large number of pipeline systems are difficult to detect and maintain by detection and maintenance personnel due to their special use environment and workspace limitations, such as small-diameter pipeline systems, buried oil and gas pipeline systems, high-altitude industrial pipeline systems, etc. The traditional manual detection of the pipeline has high cost, low detection efficiency and accuracy, large detection workload, and certain risks. Small-diameter pipelines account for a large proportion in oil and gas gathering and transportation stations, the space inside the pipeline is narrow, the pipeline is erected at high altitude, and the pipeline layout is complex, which is not easy to detect manually. Therefore, it is necessary to develop a pipeline robot that can detect the corrosion and damage of the inner wall of the pipeline in a complex pipeline environment.
[0003] The pipeline robot is a special robot that can intelligently detect and maintain in the pipeline. It can carry various types of sensors and work devices, and can complete pipeline defect detection, pipeline wall cleaning, pipeline repair and other tasks.
[0004] The pipeline robot is prone to be stuck in the turning part of the pipeline during application, which limits the application of the pipeline robot. UTILITY MODEL CONTENT
[0005] The utility model aims at providing a pipeline robot device of self-adaptive variable pipe diameter, which solves the problem of single and unchangeable pipe diameter of the existing pipeline robot.
[0006] To solve the above technical problems, the utility model adopts the following technical scheme:
[0007] A pipeline robot device of self-adaptive variable pipe diameter, comprising a support body, a recess for placing a circuit board is arranged on the support body, three connecting pipe columns are arranged at both ends of the support body in a ring array along the circumference of the support body, a connecting sleeve is arranged in the connecting pipe column, a compression spring is arranged in the connecting sleeve, an open slit is arranged on the outside of the connecting sleeve, a positioning pin is arranged on the connecting pipe column, one end of the compression spring is connected with the connecting pipe column, and the other end is in contact with the positioning pin, and the connecting sleeve is connected with a driving walking mechanism.
[0008] Further technical solutions are that the driving walking mechanism comprises three motor fixing bases equidistantly distributed along the circumference of the support body, two ends of the motor fixing base are connected with two connecting sleeves respectively, a servo motor is arranged on the motor fixing base, the servo motor is connected with the motor fixing base through a motor fixing cover, the two ends of the motor fixing base are both provided with symmetrically arranged wheel fixing bases, a central shaft is rotatably arranged between two adjacent wheel fixing bases, and the two ends of the central shaft are rotatably arranged through the two wheel fixing bases and connected with wheels.
[0009] One end of the motor fixing base and between the two wheel fixing bases are provided with a worm gear, the worm gear is fixedly arranged on the central shaft, and the worm gear is connected with the worm wheel in meshing.
[0010] Compared with the prior art, the utility model has at least one of the following beneficial effects:
[0011] 1、The utility model discloses a pipeline robot device of self -adaptation variable pipe diameter, the compression spring in connecting pipe post can adapt to the pipeline of different pipe diameter, realizes the close adhesion of the wheel of pipeline robot with the pipe wall through the stress condition of compression spring, and can freely move in the pipeline of variable pipe diameter, improves the through -putting capacity of pipeline robot to different pipe diameter pipeline.
[0012] 2、The utility model discloses a pipeline robot device of self -adaptation variable pipe diameter, three groups of mutually independent driving walking mechanism are arranged along the circumference of the support body, each driving walking mechanism is driven by an independent motor, and when passing the bend, the differential speed over the bend can be realized by controlling the rotating speed of each motor.
[0013] 3、The utility model discloses a pipeline robot device of self -adaptation variable pipe diameter, can realize the reverse rotation self -locking of pipeline robot wheel by the self -locking performance of worm gear transmission mode, simultaneously, the wheel is designed as arc and increases the pattern, greatly improves the adaptive performance of wheel and pipe wall, increases the contact area with the inner wall of pipeline and also increases the friction, avoids the wheel to appear the phenomenon of skidding. DRAWINGS
[0014] Figure 1 It is the three -dimensional structure schematic view of the pipeline robot device of self -adaptation variable pipe diameter of the utility model.
[0015] Figure 2 It is the front view of the pipeline robot device of self -adaptation variable pipe diameter of the utility model.
[0016] Figure 3 It is the left view of the pipeline robot device of self -adaptation variable pipe diameter of the utility model.
[0017] Figure 4The utility model discloses a pipeline robot device of self -adaptation variable pipe diameter's plan view.
[0018] Figure 5 The utility model discloses a support variable diameter mechanism three-dimensional structure schematic diagram of pipeline robot device of self -adaptation variable pipe diameter.
[0019] Figure 6 The utility model discloses a drive walking mechanism three-dimensional structure schematic diagram of pipeline robot device of self -adaptation variable pipe diameter.
[0020] Figure 7 The utility model discloses a motion state diagram in variable diameter pipeline of pipeline robot device of self -adaptation variable pipe diameter.
[0021] Icon: 1 - worm, 2 - worm wheel, 3 - servo motor, 4 - motor fixed cover, 5 - wheel, 6 - center shaft, 7 - support body, 8 - circuit board, 9 - wheel fixed base, 10 - positioning pin, 11 - rolling bearing, 12 - motor fixed base, 13 - compression spring, 14 - small pipe diameter, 15 - big pipe diameter, 16 - connecting pipe column, 17 - connecting sleeve, 18 - open slit. DETAILED DESCRIPTION
[0022] In order to make the utility model's purpose, technical scheme and advantage more clearly, following combining with the drawing and example, this utility model carries out further detailed explanation, should understand, the specific example described here is only used to explain the utility model, and is not used to limit the utility model.
[0023] Example:
[0024] Reference Figures 1 to 7As shown, a preferred embodiment of the adaptive variable pipe diameter pipe robot device is disclosed, the adaptive variable pipe diameter pipe robot device in this embodiment comprises a support variable diameter mechanism and a driving walking mechanism; the support variable diameter mechanism comprises the support body 7, the inner side of the axial direction of the support body 7 is provided with a groove for fixing the circuit board 8, both ends of the support body 7 are provided with three connecting pipe columns 16 which are arranged in a ring array along the circumferential direction of the support body 7, the connecting pipe column 16 is provided with a connecting sleeve 17, the connecting sleeve 17 is provided with a compression spring 13, the outer side of the connecting sleeve is provided with an open seam 18, the connecting pipe column 16 is provided with a positioning pin 10, one end of the compression spring 13 is connected with the connecting pipe column 16, and the other end is in abutment with the positioning pin 10, the connecting sleeve 17 is connected with the driving walking mechanism, the middle part of the motor fixed base 12 is provided with a fixed groove of the servo motor 3, and is fixedly connected through the motor fixed cover 4, the worm 1 is meshed and connected with the output shaft of the servo motor 3, and the worm 1 is driven to rotate through the output shaft, the rolling bearing 11 is arranged on the wheel fixed base 9, and the central shaft is connected with the inner ring of the rolling bearing 11.
[0025] Specifically, the driving walking mechanism comprises three motor fixed bases 12 which are equidistantly distributed along the circumferential direction of the support body 7, both ends of the motor fixed base 12 are connected with two connecting sleeves 17 respectively, the motor fixed base 12 is provided with a servo motor 3, the servo motor 3 is connected with the motor fixed base 12 through the motor fixed cover 12, both ends of the motor fixed base 12 are provided with wheel fixed bases 9 which are symmetrically arranged, and the central shaft 6 is rotatably arranged between two adjacent wheel fixed bases 9, both ends of the central shaft 6 are rotatably arranged through two wheel fixed bases 9 and are connected with wheels 5;
[0026] One end of the motor fixed base 12 and between the two wheel fixed bases 9 are provided with a worm gear 2, the worm gear 2 is fixedly sleeved on the central shaft 6, and the worm 1 is meshed and connected with the worm gear 2.
[0027] When the whole device is placed in the pipe, the wheels 5 on the driving walking mechanism connected with the connecting sleeve 17 are always in close contact with the inner wall of the pipe through the compression spring 13, and the wheels 5 are arc-shaped and provided with patterns, so as to increase the contact area with the inner wall of the pipe and increase the friction force, thereby avoiding the wheels 5 from slipping.
[0028] The worm gear 2 connected with the output shaft of the servo motor 3 is a driving wheel, and the other end is a driven wheel; specifically, the worm 1 is arranged on the output shaft of the servo motor 3, and three groups of driving walking mechanisms are designed to ensure that the worm 1 can smoothly pass through the bend, and the driving walking mechanisms are evenly distributed along the circumferential direction of the support body 7, and the included angle between two adjacent driving walking mechanisms is 120°.
[0029] Each group of driving walking mechanisms is driven by an independent servo motor 3, and when passing through the bend, the differential speed passing through the bend can be realized by controlling the rotating speed of each servo motor 3.
[0030] Referring to Figure 7 When the adaptive variable-diameter pipeline robot structure device passes through the small-diameter pipeline 14, the compression spring 13 is constrained by the small-diameter pipeline 14, the compression spring 7 is compressed and shortened, and the driving walking mechanism is driven to shrink towards the support body 7, so that the wheel 5 is closely fitted with the small-diameter pipeline 14; when the adaptive variable-diameter pipeline robot structure device passes from the small-diameter pipeline 14 to the large-diameter pipeline 15, the compression spring 13 changes from the compressed state to the stretched state, and the driving walking mechanism is driven to relax away from the support body 7, so that the wheel 5 is closely fitted with the large-diameter pipeline 15.
[0031] Although the utility model has been described herein with reference to a number of explanatory embodiments of the utility model, it should be understood that those skilled in the art can design many other modifications and embodiments, and these modifications and embodiments will fall within the scope and spirit of the principles disclosed in the present application. More specifically, within the scope of the present application, drawings and claims, various modifications and improvements can be made to the constituent components and / or layout of the subject combination layout. In addition to the modifications and improvements to the constituent components and / or layout, other uses will be apparent to those skilled in the art.
Claims
1. A self-adapting variable pipe diameter pipe robot apparatus, characterized by: The utility model relates to a support body is provided with the recess for placing circuit board on it, both ends of the support body are equipped with three connecting pipe columns which are arranged in annular array along the circumference of the support body, the connecting pipe column is equipped with the connecting sleeve, the connecting sleeve is equipped with the compression spring, the outside of connecting sleeve is equipped with the open seam, the connecting pipe column is equipped with the positioning pin, one end of compression spring is connected with connecting pipe column, and the other end is in abutment with positioning pin, and the connecting sleeve is connected with drive walking mechanism.
2. The self-adapting variable pipe diameter pipe robot device according to claim 1, characterized in that: The drive walking mechanism includes three motor fixing bases equally spaced along the circumference of the support body, both ends of the motor fixing base are connected with two connecting sleeves respectively, the motor fixing base is provided with a servo motor, the servo motor is connected with the motor fixing base through a motor fixing cover, both ends of the motor fixing base are provided with symmetrically arranged wheel fixing bases, a central shaft is rotatably arranged between two adjacent wheel fixing bases, both ends of the central shaft are rotatably arranged through two wheel fixing bases and connected with wheels; One end of the motor fixing base and between the two wheel fixing bases is provided with a worm gear, the worm gear is fixedly arranged on the central shaft, a worm is arranged on the output shaft of the servo motor, and the worm is connected with the worm gear in meshing connection.