Outer tube wall walking device
By designing an external pipe wall walking device with adjustable connectors and V-shaped folding support, the problem of poor adaptability in the existing technology has been solved, enabling continuous operation across pipe diameters, improving work efficiency and reducing equipment investment.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHAANXI INST OF SPECIAL EQUIP INSPECTION & TESTING
- Filing Date
- 2025-08-15
- Publication Date
- 2026-05-29
AI Technical Summary
Existing pipe wall moving devices have poor adaptability and cannot adapt to pipe systems of different specifications, resulting in the need for frequent equipment replacement or parameter adjustment, which reduces work efficiency.
An external pipe wall walking device was designed, which adopts adjustable connectors and V-shaped folding support devices. It can adjust the distance and angle between the first ring body and the second ring body to adapt to pipes of different diameters. Combined with a drive device, it can realize continuous operation across pipe diameters.
It enables continuous operation between pipe sections of different diameters in the same pipeline system without the need to change equipment or frequently adjust parameters, which greatly improves operational efficiency and reduces equipment investment costs.
Smart Images
Figure CN224301613U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of pipeline inspection technology, and in particular to an external pipe wall walking device. Background Technology
[0002] In the petrochemical, municipal water supply and drainage, power, and nuclear industries, pipeline systems serve as crucial transport carriers, undertaking the task of long-distance fluid transport. With the continuous development of industrial technology, the demand for external pipeline inspection, maintenance, welding, painting, and cleaning operations is increasing, placing higher technical requirements on external pipeline operation equipment.
[0003] Currently, external pipeline operations are mainly accomplished using various pipeline external moving devices or crawling robots. Existing pipeline external moving devices suffer from poor adaptability, typically only suitable for pipelines within a specific diameter range and unable to adapt to pipeline systems of different specifications. Especially in practical engineering applications, the same pipeline system often contains multiple pipe sections of different diameters, such as main pipes, branch pipes, and joint sections. Existing devices struggle to achieve continuous operations across pipe diameters, requiring different specifications of equipment for different pipe diameters or frequent adjustments to device parameters, significantly increasing equipment investment and operational complexity, and reducing operational efficiency. Utility Model Content
[0004] This application aims to at least partially solve one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide an outer pipe wall traveling device that can adapt to pipes of different diameters, effectively solving the problem of poor adaptability in the prior art.
[0005] A device for traveling along the outer wall of a pipe, comprising:
[0006] The bracket includes a first ring body, a second ring body, and an adjustable connector. The first ring body and the second ring body are arranged parallel to each other and spaced apart. The first ring body and the second ring body are connected by the adjustable connector, and the adjustable connector can adjust the distance between the first ring body and the second ring body.
[0007] A support device is disposed between the first ring body and the second ring body. At least three support devices are provided, and each support device is arranged circumferentially between the first ring body and the second ring body. Each support device includes an adjusting arm and a rolling element. The two ends of the adjusting arm are respectively hinged to the first ring body and the second ring body. A rotating shaft is provided in the middle of the adjusting arm. The adjusting arm can be bent and deformed from the rotating shaft. The rolling element is rotatably mounted at both ends of the rotating shaft.
[0008] A drive device is mounted on at least one of the support devices, the drive device being connected to the rolling element to drive the rolling element to roll.
[0009] In an optional or preferred embodiment, multiple adjustable connectors are provided, and each of the adjustable connectors is arranged at intervals around the outer periphery of the first ring body and the second ring body.
[0010] In an optional or preferred embodiment, the adjustable connector includes an adjusting rod, a first fixed seat, a second fixed seat, and an elastic component. The first fixed seat and the second fixed seat are aligned. The first fixed seat is mounted on the first ring body, and the second fixed seat is fixed on the second ring body. A through hole extending axially along the second ring body is formed on the second fixed seat. One end of the adjusting rod is fixed to the first fixed seat, and the other end passes through the through hole. The adjusting rod is slidably engaged with the through hole. A limiting plate is provided at the end of the adjusting rod away from the first fixed seat. The elastic component is sleeved on the adjusting rod. One end of the elastic component is connected to the limiting plate, and the other end is connected to the second fixed seat.
[0011] In an optional or preferred embodiment, the portion of the adjusting rod that passes through the through hole is provided with a threaded section, a nut is connected to the threaded section, the elastic component is sleeved on the adjusting rod, one end of the elastic component is connected to the nut, and the other end is connected to the second fixing seat.
[0012] In an optional or preferred embodiment, the driving device includes a power component, a driving wheel, and a driven wheel. The power component is fixed on the adjusting arm, the driving wheel is connected to the power output end of the power component, the driven wheel is fixed to the rolling element, the rotation axis of the driven wheel coincides with the rotation axis of the rolling element, and the driving wheel and the driven wheel are connected by a transmission.
[0013] In an optional or preferred embodiment, the driving wheel and the driven wheel are connected by a synchronous belt drive.
[0014] In an optional or preferred embodiment, a first gear is installed at the power output end of the power component, and a second gear is rotatably installed on the adjusting arm. The first gear meshes with the second gear for transmission, and the driving wheel is coaxially fixed with the second gear.
[0015] In an optional or preferred embodiment, the rolling element includes a first roller and a second roller, which are respectively rotatably mounted at both ends of the central pivot of the adjusting arm.
[0016] In an optional or preferred embodiment, the centers of the first ring body and the second ring body are located on the same straight line.
[0017] In an optional or preferred embodiment, both the first ring body and the second ring body include two semi-circular ring plates, one end of the two semi-circular ring plates is hinged, and the other end is detachably connected.
[0018] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: the adjustable connector of the bracket enables adjustment of the distance between the first ring and the second ring, and combined with the adjusting arm structure of the support device, the device can adapt to pipes of different diameters, effectively solving the problem of poor adaptability in the prior art. This device can operate continuously between pipe sections of different diameters in the same pipeline system without changing equipment or frequently adjusting parameters, greatly improving operating efficiency and reducing equipment investment costs. Attached Figure Description
[0019] The present application will be further described below with reference to the accompanying drawings and embodiments;
[0020] Figure 1 This is a schematic diagram of the structure of an outer tube wall traveling device provided in an embodiment of this application;
[0021] Figure 2 yes Figure 1 A structural schematic diagram from another perspective of the embodiment shown;
[0022] Figure 3 yes Figure 1 A magnified view of a portion of point A in the middle.
[0023] Figure label:
[0024] 100-Bracket; 110-First ring; 120-Second ring; 130-Adjustable connector; 131-Adjusting rod; 132-First fixed seat; 133-Second fixed seat; 134-Elastic component; 135-Threaded section; 136-Nut; 140-Pull buckle; 200-Support device; 210-Adjusting arm; 220-Rolling component; 221-First roller; 222-Second roller; 300-Drive device; 310-Power component; 320-Driving wheel; 330-Driven wheel; 340-Connecting seat; 350-First gear; 360-Second gear. Detailed Implementation
[0025] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0026] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.
[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0028] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.
[0029] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0030] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.
[0031] In the petrochemical, municipal water supply and drainage, power, and nuclear industries, pipeline systems serve as crucial transport carriers, undertaking the task of long-distance fluid transport. With the continuous development of industrial technology, the demand for external pipeline inspection, maintenance, welding, painting, and cleaning operations is increasing, placing higher technical requirements on external pipeline operation equipment.
[0032] Currently, external pipeline operations are mainly accomplished using various pipeline external moving devices or crawling robots. Existing pipeline external moving devices suffer from poor adaptability, typically only suitable for pipelines within a specific diameter range and unable to adapt to pipeline systems of different specifications. Especially in practical engineering applications, the same pipeline system often contains multiple pipe sections of different diameters, such as main pipes, branch pipes, and joint sections. Existing devices struggle to achieve continuous operations across pipe diameters, requiring different specifications of equipment for different pipe diameters or frequent adjustments to device parameters, significantly increasing equipment investment and operational complexity, and reducing operational efficiency.
[0033] Reference Figures 1 to 3 This invention provides an external pipe wall traveling device, including a bracket 100, a support device 200, and a driving device 300. This device effectively solves the technical problem of poor adaptability of existing pipe external wall moving devices, which are only applicable to pipes within a specific diameter range, and realizes continuous operation across pipe diameters for pipe systems of different specifications.
[0034] The support 100 includes a first ring 110, a second ring 120, and an adjustable connector 130. The first ring 110 and the second ring 120 are arranged parallel to each other and spaced apart, and are connected by the adjustable connector 130. The centers of the first ring 110 and the second ring 120 are located on the same straight line, ensuring coaxial installation of the device on the outer wall of the pipeline, avoiding unstable operation caused by eccentricity, and improving the operational stability and positioning accuracy of the device.
[0035] In some embodiments, the first ring body 110 and the second ring body 120 both adopt an integral circular ring structure. The inner diameter of the first ring body 110 is designed to be larger than the outer diameter of the pipe plus a reserved gap, and the inner diameter of the second ring body 120 is the same as that of the first ring body 110.
[0036] In other embodiments, both the first ring body 110 and the second ring body 120 include two semicircular ring plates, each with a 180-degree arc structure. One end of the two semicircular ring plates is hinged together, and the other end is detachably connected by a buckle 140. This split design allows the device to be easily installed on existing pipes without needing to be fitted from the end of the pipe.
[0037] The adjustable connector 130 is a key component that enables the device to adapt to pipes of different diameters. In some embodiments, three adjustable connectors 130 are provided, and each adjustable connector 130 is arranged circumferentially at a distance of 120 degrees from the outer periphery of the first ring body 110 and the second ring body 120.
[0038] In other embodiments, four adjustable connectors 130 are provided, and each adjustable connector 130 is arranged at a 90-degree circumferential interval on the outer periphery of the first ring body 110 and the second ring body 120.
[0039] Each adjustable connector 130 includes an adjusting rod 131, a first fixed seat 132, a second fixed seat 133, and an elastic component 134. The first fixed seat 132 is fixed to the first ring body 110, and the second fixed seat 133 is fixed to the second ring body 120. The first fixed seat 132 and the second fixed seat 133 are aligned. A through hole extending axially along the second ring body 120 is formed on the second fixed seat 133. The diameter of the through hole is slightly larger than the diameter of the adjusting rod 131, and the adjusting rod 131 slides in the through hole. One end of the adjusting rod 131 is fixed to the first fixed seat 132, and the other end passes through the through hole. A limiting plate is provided at the end of the adjusting rod 131 away from the first fixed seat 132. The elastic component 134 is a compression spring, sleeved on the adjusting rod 131. One end is connected to the limiting plate, and the other end is connected to the second fixed seat 133. The elastic component 134 provides preload force for the device.
[0040] In other embodiments, to provide more precise adjustment control, the portion of the adjusting rod 131 passing through the through hole is provided with a threaded section 135, and a nut 136 is connected to the threaded section 135. An elastic member 134 is fitted onto the adjusting rod 131, with one end connected to the nut 136 and the other end connected to the second fixing seat 133. The preload of the elastic member 134 can be adjusted by rotating the nut 136.
[0041] The design of this adjustable connector 130 allows the distance between the first ring 110 and the second ring 120 to be adjusted within a wide range, accommodating pipes of different outer diameters. When the device needs to accommodate larger diameter pipes, the adjustable connector 130 is stretched, increasing the distance between the two rings; when it needs to accommodate smaller diameter pipes, the adjustable connector 130 is compressed, decreasing the distance between the two rings. The elastic component 134 ensures that the device always maintains an effective clamping force on the outer wall of the pipe, improving the stability of the device's operation.
[0042] Support devices 200 are disposed between the first ring body 110 and the second ring body 120, and at least three are disposed. In the embodiment shown in this application, three support devices 200 are disposed, and the three support devices 200 are distributed at 120-degree circumferential intervals between the first ring body 110 and the second ring body 120. Of course, in other embodiments, four or six can also be disposed.
[0043] It should be noted that in this application, the three support devices 200 and the three adjustable connectors 130 are aligned on the inner and outer sides of the first ring body 110 and the second ring body 120, that is, each support device 200 corresponds to an adjustable connector 130 in the radial direction of the first ring body 110.
[0044] Each support device 200 includes an adjusting arm 210 and a rolling element 220. The adjusting arm 210 adopts a V-shaped folding structure, with its two ends hinged to the first ring 110 and the second ring 120, respectively. A pivot is provided in the middle of the adjusting arm 210, allowing the adjusting arm 210 to bend and deform from the pivot. This design enables the adjusting arm 210 to bend and adjust its angle according to changes in the outer diameter of the pipe, ensuring that the rolling element 220 always maintains good contact with the outer wall of the pipe.
[0045] In the embodiment shown in this application, the adjusting arm 210 adopts a double-arm structure, consisting of two arm segments hinged together by a pivot. The hinge between the adjusting arm 210 and the first ring 110 and the second ring 120 uses a spherical bearing, allowing the adjusting arm 210 to swing within a certain angle range to adapt to changes in the curvature of the pipeline.
[0046] Rolling elements 220 are rotatably mounted at both ends of the rotating shaft, enabling the device to roll along the outer wall of the pipe. Specifically, the rolling elements 220 include a first roller 221 and a second roller 222, which are rotatably mounted at both ends of the rotating shaft in the middle of the adjusting arm 210. The first roller 221 and the second roller 222 are of the same specifications, and the outer surface of the rollers is covered with a rubber layer with a high coefficient of friction to increase the friction with the outer wall of the pipe and prevent slippage.
[0047] In other embodiments, the rolling element 220 may also be configured to rotate the balls mounted at both ends of the shaft.
[0048] The V-shaped folding structure of the support device 200 allows it to adapt to pipes of different diameters. When installed on a larger diameter pipe, the opening angle of the adjusting arm 210 increases, and the rolling element 220 expands outward; when installed on a smaller diameter pipe, the opening angle of the adjusting arm 210 decreases, and the rolling element 220 retracts inward. This adaptive adjustment mechanism, combined with the function of the adjustable connector 130, enables the device to stably grip pipes of different specifications, ensuring reliable support and mobility.
[0049] The drive unit 300 provides the walking power for the device and is mounted on at least one of the support units 200. In the embodiment shown in this application, one drive unit 300 is provided and is mounted on one of the support units 200. Of course, in practical applications, in order to provide sufficient driving force and backup capability, drive units 300 can be mounted on multiple support units 200 respectively.
[0050] The drive unit 300 includes a power component 310, a drive pulley 320, and a driven pulley 330. The power component 310 is fixed to the adjusting arm 210 via a connecting seat 340. The power component 310 is a DC motor or a stepper motor. The drive pulley 320 is connected to the power output end of the power component 310. The driven pulley 330 is fixed to the rolling element 220, and the rotation axis of the driven pulley 330 coincides with the rotation axis of the rolling element 220, ensuring effective power transmission. In some embodiments, the drive pulley 320 and the driven pulley 330 are connected by a synchronous belt drive. Synchronous belt drives have the advantages of precise transmission ratio, low noise, and convenient maintenance. The synchronous belt is made of polyurethane material, which has good wear resistance and tensile strength. Of course, in other embodiments, the drive pulley 320 can directly mesh with the driven pulley 330 for transmission.
[0051] In some other embodiments, a first gear 350 is mounted on the power output end of the power unit 310, and a second gear 360 is rotatably mounted on the adjusting arm 210. The first gear 350 and the second gear 360 mesh and drive each other, and the drive wheel 320 is coaxially fixed with the second gear 360. This design adds a stage of gear transmission, which can provide greater output torque and is suitable for heavy-duty operations.
[0052] The pipe wall walking device of this application adjusts the distance between the first ring 110 and the second ring 120 through the adjustable connector 130 of the support 100. Combined with the V-shaped foldable adjusting arm 210 structure of the support device 200, the device can adapt to pipes of different diameters, effectively solving the problem of poor adaptability in the prior art. This device can operate continuously between different diameter pipe sections in the same pipeline system without changing equipment or frequently adjusting parameters, greatly improving work efficiency and reducing equipment investment costs.
[0053] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.
Claims
1. A device for traveling along the outer pipe wall, characterized in that, include: The bracket includes a first ring body, a second ring body, and an adjustable connector. The first ring body and the second ring body are arranged parallel to each other and spaced apart. The first ring body and the second ring body are connected by the adjustable connector, and the adjustable connector can adjust the distance between the first ring body and the second ring body. A support device is disposed between the first ring body and the second ring body. At least three support devices are provided, and each support device is arranged circumferentially between the first ring body and the second ring body. Each support device includes an adjusting arm and a rolling element. The two ends of the adjusting arm are respectively hinged to the first ring body and the second ring body. A rotating shaft is provided in the middle of the adjusting arm. The adjusting arm can be bent and deformed from the rotating shaft. The rolling element is rotatably mounted at both ends of the rotating shaft. A drive device is mounted on at least one of the support devices, the drive device being connected to the rolling element to drive the rolling element to roll.
2. The outer pipe wall traveling device according to claim 1, characterized in that: Multiple adjustable connectors are provided, and each adjustable connector is arranged at intervals around the outer periphery of the first ring body and the second ring body.
3. The outer pipe wall traveling device according to claim 2, characterized in that: The adjustable connector includes an adjusting rod, a first fixed seat, a second fixed seat, and an elastic component. The first fixed seat and the second fixed seat are aligned. The first fixed seat is mounted on the first ring body, and the second fixed seat is fixed on the second ring body. A through hole extending axially along the second ring body is formed on the second fixed seat. One end of the adjusting rod is fixed to the first fixed seat, and the other end passes through the through hole. The adjusting rod is slidably engaged with the through hole. A limiting plate is provided at the end of the adjusting rod away from the first fixed seat. The elastic component is sleeved on the adjusting rod. One end of the elastic component is connected to the limiting plate, and the other end is connected to the second fixed seat.
4. The outer pipe wall traveling device according to claim 3, characterized in that: The portion of the adjusting rod that passes through the through hole is provided with a threaded section, and a nut is connected to the threaded section. The elastic component is sleeved on the adjusting rod, with one end of the elastic component connected to the nut and the other end connected to the second fixing seat.
5. The pipe wall traveling device according to claim 1, characterized in that: The drive device includes a power component, a drive wheel, and a driven wheel. The power component is fixed on the adjusting arm. The drive wheel is connected to the power output end of the power component. The driven wheel is fixed to the rolling element. The rotation axis of the driven wheel coincides with the rotation axis of the rolling element. The drive wheel and the driven wheel are connected by a transmission.
6. The outer pipe wall traveling device according to claim 5, characterized in that: The driving wheel and the driven wheel are connected by a synchronous belt drive.
7. The outer pipe wall traveling device according to claim 6, characterized in that: The power output end of the power component is equipped with a first gear, and the adjusting arm is rotatably mounted with a second gear. The first gear and the second gear mesh and drive each other, and the driving wheel is coaxially fixed with the second gear.
8. The outer pipe wall traveling device according to claim 1, characterized in that: The rolling element includes a first roller and a second roller, which are respectively rotatably mounted at both ends of the central pivot of the adjusting arm.
9. The outer pipe wall traveling device according to claim 1, characterized in that: The centers of the first ring and the second ring are located on the same straight line.
10. The outer pipe wall traveling device according to any one of claims 1 to 9, characterized in that: Both the first ring body and the second ring body include two semi-circular ring plates, one end of the two semi-circular ring plates is hinged, and the other end is detachably connected.