CN201206698Y - Double-drive-wheel type pipe detecting drive deivce - Google Patents
Double-drive-wheel type pipe detecting drive deivce Download PDFInfo
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- CN201206698Y CN201206698Y CNU200820114539XU CN200820114539U CN201206698Y CN 201206698 Y CN201206698 Y CN 201206698Y CN U200820114539X U CNU200820114539X U CN U200820114539XU CN 200820114539 U CN200820114539 U CN 200820114539U CN 201206698 Y CN201206698 Y CN 201206698Y
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Abstract
A dual-driving wheel type pipeline inspection driving device mainly comprises a body (1), a power device (2), two driving arms (3), a driving wheel mechanism (4), and supporting wheel mechanisms (5); wherein the body is composed of an adjusting spring fixed structure (12), a speed reducer (22) and a direct-current motor (21) in sequence; the two driving arms (3) are arranged at two sides of the speed reducer (22) at a certain angle with the direct-current motor as a power source and the speed reducer (22) as a center, an opening adjusting spring (11) is arranged above the driving wheel mechanism (4), and the supporting wheel mechanisms (5) are symmetrically distributed at the two ends of the direct-current motor (21) and the speed reducer (22). The pipeline inspection driving device has the advantages of simple and compact structure, low manufacturing cost, reliable operation, stable traveling posture, and convenient use, maintenance and repair.
Description
Technical field
The utility model relates to a kind of pipeline automatic test system drive unit, in particular for the dual drive wheel formula pipe detection drive unit in the online detection operation of pipeline.
Background technique
Pipeline transport is the main mode of oil, natural gas transportation since transfer line to pass through the region wide, the Service Environment complexity, the position is hidden, in case have an accident, will cause enormous economic loss, also can produce serious consequence to society and environment, therefore, must regularly detect pipeline.Detecting method commonly used has leakage method, ultrasonic method, electric vortex method etc., no matter use which kind of detecting method, the reliability and stability of drive unit walking all have very big influence to detection and alignment quality, and drive unit all is one of key subject.In general, drive unit should meet the following conditions: (1) tractive force is big, and load capacity is strong; (2) rational in infrastructure, the caliber that can adapt to a certain degree changes; (3) certain obstacle span ability is arranged; (4) can be smoothly bend by certain diameter.
At present, the pipeline detection driving mode mainly is that pressure differential and electricity drive.Pressure differential is usually used in the online detection of long-range pipeline, needs supporting facility such as supporting real-time generalized information system and pipeline signalized point along the line.Electricity drives as one of very effective method for driving, and the location is simple, accurately high, uses in the short distance operation of being everlasting, and also can use in experimentation.The also many formulas of electrically driven (operated) drive unit form are various, and piezoelectric element driving, linear motor driving, spiral driving and wheeled driving etc. are arranged.First three is planted driving mode and has reliable in structure and the little advantage of size.But, complex structure, the cost height, and also obstacle crossing ability is poor, is adapted to the micro-tube robot and drives.Opposite wheeled driving is then simple in structure, cost is low, obstacle crossing ability is strong, and tractive force is big, and is more practical in the conventional gas and oil pipe detection drives.
Along with the fast development of domestic pipe detection technology, domestic pipeline drive unit has also obtained significant progress.The crawler pipeline robot of the elaboration of University Of Tianjin in the patent CN2487515Y of application in June calendar year 2001 adopts the supercharging crawler belt to replace driving wheel, and supporting wheel is vertically mounted on the body, and the supercharging crawler belt that diameter is bigger has strengthened the walking stability of mechanism.But supercharging crawler belt size is bigger, and turn performance is poor, and the distortion of supercharging crawler belt is little, and the positive pressure that drives the supercharging crawler belt is mainly by the robot own wt, and it is unreliable to move, and is only applicable to move in the straight tube.
The traveller of the adjustable for height autonomous modification crawler pipeline robot that Donghua University sets forth in the patent CN1544211A of in November, 2003 application, adopt four driving wheels of four motor single driving, the 4 wheel driven driving wheel becomes symmetric type separately, driving wheel is connected with swinging kick mechanism, and the height of driving mechanism is regulated by the variation of swinging kick pivot angle.This regulative mode not only adapts to circular pipe but also can move in rectangular duct.Before operation, according to the height of line size manual tune driving mechanism.Yet, guaranteeing size constancy in the driving mechanism running, when moving in circular pipe, in case rotate, the driving wheel skidding will appear.Therefore, this driving mechanism can only be in the rectangular duct operation of horizontal positioned.
Beijing University of Technology in 2004 the application utility patent CN2747088Y and patent of invention CN1586942A in set forth a kind of single motor driving straight wheel type small pipeline robot driving mechanism, driving wheel is connected with motor by turbine and worm, except that driving wheel, the supporting wheel of two the alternate 120 ° spring block types that outside circular drives mechanism, also distribute.Guarantee the positive pressure of driving wheel according to described this driving mechanism of patent by two elastic support, utilize the spring of supporting wheel to change and adapt to the caliber distortion.This mechanism is can be by the pipeline of certain distortion is arranged in theory, and still, vertically arranged elastic support wheel is when running into obstacle, and the radial thrust that produces between slide block and guide rail makes frictional force increase between slide block and guide rail.On the one hand, jammed supporting wheel increases resistance; On the other hand, because slide block does not press down smoothly, cause the telescopic spring amount constant, the positive pressure of driving wheel does not increase.So the driving wheel skidding might take place in this vertical elastic support wheel mechanism when running into obstacle.
In view of the foregoing, be necessary further to develop novel pipe detection device, to promote the development of pipe detection technology.
Summary of the invention
According to background technique, the purpose of this utility model be to provide a kind of in pipeline walking stability good, tractive force is big, and the bend passing capacity is strong, with the direct current generator is power, with the retarder is the center, driving wheel mechanism is set before and after it, by reducer output shaft transmission driving sprocket wheel, thereby sprocket wheel and chain drive driving wheel mechanism, between body and driving wheel mechanism, be connected with Regulation spring, on body, also be provided with the dual drive wheel formula pipe detection drive unit of supporting wheel mechanism.
To achieve these goals, the utility model is achieved through the following technical solutions:
A kind of dual drive wheel formula pipe detection drive unit, mainly by body (1), power plant (2), driving arm (3), driving wheel mechanism (4) and supporting wheel mechanism (5) form, wherein: by Regulation spring fixed structure (12), retarder (22) and direct current generator (21) constitute body (1) from front to back according to the order of sequence, go up device at reducer output shaft (26) driving arm (3) is arranged, be symmetrically distributed in the both sides of retarder (22), and can freely rotate around reducer output shaft (26), be linked with driving sprocket wheel (23) on reducer output shaft (26), in the end of driving arm (3) live axle (42) be set, device has sprocket wheel (24) and driving wheel (43) thereon, sprocket wheel (24) can drive driving wheel (43) and rotate, and driving sprocket wheel (23) passes through the dirivig member of chain (25) as the two with sprocket wheel (24); Driving wheel mechanism (4) is connected with the Regulation spring fixed structure (12) of body (1) with Regulation spring (11) by drive wheel bracket (41), and Regulation spring under the off working state (11) is in incompressible relieving state; Supporting wheel mechanism (5) is along the uniform two ends that are arranged on retarder (22) and direct current generator (21) of body (1), two supporting wheels (53) and the triangular angle of driving wheel (43) are about 120 ° in the same section of body (1), the three can be simultaneously point on same internal surface of column.
Owing to adopt technique scheme, the utlity model has following advantage and effect:
1, the utility model driving wheel mechanism is an elastic mechanism, provides positive pressure by Regulation spring, and assurance device has enough big tractive force; Do not establish any limit stoper in the driving wheel mechanism, be connected with body with driving arm by Regulation spring, whole drive unit adaptation caliber changing capability and bend passing capacity are strong; Supporting wheel mechanism is fixedly mounted on the body, installs with the driving wheel mechanism certain distance that staggers, and drive unit obstacle span ability is strong.
2, the utility model is simple in structure, and compactness is cheap, and working service and repairing are simple and easy.
Description of drawings
Figure 1A is the utility model general structure schematic representation
Figure 1B is that the A of the utility model Figure 1A is to schematic representation
Fig. 2 is the utility model driving wheel structural scheme of mechanism
Fig. 3 is the utility model supporting wheel structural scheme of mechanism
Embodiment
Illustrate by Figure 1A and Figure 1B, a kind of dual drive wheel formula pipe detection drive unit, mainly by body 1, power plant 2, driving arm 3, driving wheel mechanism 4 and supporting wheel mechanism 5 form, wherein: by Regulation spring fixed structure 12, retarder 22 and direct current generator 21 constitute body 1 from front to back according to the order of sequence, device has driving arm 3 on reducer output shaft 26, be symmetrically distributed in the both sides of retarder 22, and can freely rotate, on reducer output shaft 26, be linked with driving sprocket wheel 23 around reducer output shaft 26, in the end of driving arm 3 live axle 42 is set, device has sprocket wheel 24 and driving wheel 43 thereon, and sprocket wheel 24 can drive driving wheel 43 and rotate, and driving sprocket wheel 23 passes through the dirivig member of chain 25 as the two with sprocket wheel 24; Driving wheel mechanism 4 is connected with the Regulation spring fixed structure 12 of body 1 with Regulation spring 11 by drive wheel bracket 41, and Regulation spring 11 is in incompressible relieving state under the off working state; Supporting wheel mechanism 5 is along the body 1 uniform two ends that are arranged on retarder 22 and direct current generator 21, and two supporting wheels 53 and driving wheel 43 triangular angles are about 120 ° in the same section of body 1, the three can be simultaneously point on same internal surface of column.
The structure that driving wheel mechanism is shown by Fig. 2 is formed, and driving wheel 43 is installed on the drive wheel bracket 41 by live axle 42.
The structure that supporting wheel mechanism is shown by Fig. 3 is formed, and supporting wheel 53 is installed on the support wheel seat 51 by supporting wheel shaft 52.
Other knows, must guarantee the stability of the installation precision of driving wheel mechanism and supporting wheel mechanism with the assurance device operation in the overall technological scheme design process of drive unit, driving wheel was taken turns the reasonable distribution of pressure before and after the holddown spring of driving wheel top made before and after inspection and the adjustment.
Know that again the utility model supporting wheel mechanism 5 is fixedly mounted on the body 1, be distributed on direct current generator 21 and retarder 22 two ends, install with driving wheel mechanism 4 certain distance that staggers.
Using process of the present utility model is as follows: at first drive unit is connected with battery flat, then, manually drive unit is pressed in the pipeline, under Regulation spring 11 effects, driving wheel 43 is pressed on the tube wall.Open the remote controller switch, drive unit brings into operation.In practical operation, by the impacting force of Regulation spring 11 driving wheel 43 is pressed on the tube wall, the positive pressure of driving wheel 43 is provided by Regulation spring 11, changes or during by bend the self adaption diameter of Regulation spring 11 automatic control tegulatingdevices at caliber.
Claims (3)
1, a kind of dual drive wheel formula pipe detection drive unit, mainly by body (1), power plant (2), driving arm (3), driving wheel mechanism (4) and supporting wheel mechanism (5) form, it is characterized in that: by Regulation spring fixed structure (12), retarder (22) and direct current generator (21) constitute body (1) from front to back according to the order of sequence, go up device at reducer output shaft (26) driving arm (3) is arranged, be symmetrically distributed in the both sides of retarder (22), and can freely rotate around reducer output shaft (26), be linked with driving sprocket wheel (23) on reducer output shaft (26), in the end of driving arm (3) live axle (42) be set, device has sprocket wheel (24) and driving wheel (43) thereon, sprocket wheel (24) can drive driving wheel (43) and rotate, and driving sprocket wheel (23) passes through the dirivig member of chain (25) as the two with sprocket wheel (24); Driving wheel mechanism (4) is connected with the Regulation spring fixed structure (12) of body (1) with Regulation spring (11) by drive wheel bracket (41), and Regulation spring under the off working state (11) is in incompressible relieving state; Supporting wheel mechanism (5) is along the uniform two ends that are arranged on retarder (22) and direct current generator (21) of body (1), two supporting wheels (53) and the triangular angle of driving wheel (43) are about 120 ° in the same section of body (1), the three can be simultaneously point on same internal surface of column.
2, dual drive wheel formula pipe detection drive unit according to claim 1 is characterized in that: driving wheel (43) is installed in drive wheel bracket (41) by live axle (42) and goes up composition driving wheel mechanism (4).
3, dual drive wheel formula pipe detection drive unit according to claim 1 is characterized in that: supporting wheel (53) is installed in upward composition supporting wheel mechanism (5) of support wheel seat (51) by supporting wheel shaft (52).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820114539XU CN201206698Y (en) | 2008-05-15 | 2008-05-23 | Double-drive-wheel type pipe detecting drive deivce |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200820080572 | 2008-05-15 | ||
| CN200820080572.5 | 2008-05-15 | ||
| CNU200820114539XU CN201206698Y (en) | 2008-05-15 | 2008-05-23 | Double-drive-wheel type pipe detecting drive deivce |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201206698Y true CN201206698Y (en) | 2009-03-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNU200820114539XU Expired - Fee Related CN201206698Y (en) | 2008-05-15 | 2008-05-23 | Double-drive-wheel type pipe detecting drive deivce |
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| CN (1) | CN201206698Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102620111A (en) * | 2011-01-10 | 2012-08-01 | Pii有限公司 | Apparatus for pipeline inspection and method of controlling the same |
| CN102788225A (en) * | 2012-08-24 | 2012-11-21 | 浙江农林大学 | Jet-flow propelled pipeline robot |
| CN102865432A (en) * | 2012-08-28 | 2013-01-09 | 浙江工业大学 | Walker in electric drive pipeline |
| CN103016904A (en) * | 2011-09-20 | 2013-04-03 | 中国石油天然气集团公司 | Floating driving mechanism for airtight automatic de-rusting machine for pipeline repaired port |
| CN103363246A (en) * | 2012-03-31 | 2013-10-23 | 哈尔滨盛迪电力设备有限公司 | Combined-type examining walking device inside large-scale pipeline |
| CN105465547A (en) * | 2015-12-02 | 2016-04-06 | 上海大学 | Pipeline repairing robot |
| CN109115813A (en) * | 2018-08-31 | 2019-01-01 | 中广核检测技术有限公司 | Nuclear reactor vacuum chamber radiographic inspection system |
-
2008
- 2008-05-23 CN CNU200820114539XU patent/CN201206698Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102620111A (en) * | 2011-01-10 | 2012-08-01 | Pii有限公司 | Apparatus for pipeline inspection and method of controlling the same |
| CN103016904A (en) * | 2011-09-20 | 2013-04-03 | 中国石油天然气集团公司 | Floating driving mechanism for airtight automatic de-rusting machine for pipeline repaired port |
| CN103016904B (en) * | 2011-09-20 | 2015-09-23 | 中国石油天然气集团公司 | Floating driving mechanism for enclosed automatic deruster of pipeline joint coatings |
| CN103363246A (en) * | 2012-03-31 | 2013-10-23 | 哈尔滨盛迪电力设备有限公司 | Combined-type examining walking device inside large-scale pipeline |
| CN103363246B (en) * | 2012-03-31 | 2015-08-05 | 哈尔滨盛迪电力设备有限公司 | Inspection line walking apparatus in combined large pipeline |
| CN102788225A (en) * | 2012-08-24 | 2012-11-21 | 浙江农林大学 | Jet-flow propelled pipeline robot |
| CN102788225B (en) * | 2012-08-24 | 2015-04-22 | 浙江农林大学 | Jet-flow propelled pipeline robot |
| CN102865432A (en) * | 2012-08-28 | 2013-01-09 | 浙江工业大学 | Walker in electric drive pipeline |
| CN105465547A (en) * | 2015-12-02 | 2016-04-06 | 上海大学 | Pipeline repairing robot |
| CN109115813A (en) * | 2018-08-31 | 2019-01-01 | 中广核检测技术有限公司 | Nuclear reactor vacuum chamber radiographic inspection system |
| CN109115813B (en) * | 2018-08-31 | 2021-03-30 | 中广核检测技术有限公司 | Nuclear reactor vacuum chamber radiographic inspection system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090311 Termination date: 20130523 |