技术领域technical field
本发明涉及管内作业机械，特别是液压反馈控速管道机器人。The invention relates to an in-pipe operating machine, in particular to a hydraulic feedback speed-controlled pipeline robot.
背景技术Background technique
管道作为流体输送的主要手段，被广泛应用于生产生活的方方面面，在石油化工领域尤为突出。长输管道作为油气输送的主要手段，已经占整个油气输送的80%以上。长输管道在运营一端时间后，都需要进行维护和检测。在维护阶段，需要进行低速清管作业；在检测方面，希望检测设备低速运行。常规的作业办法，是将输被输送流体的流速降低，以达到低速清管，低速检测的目的。但这大大影响了生产效率，而且由于管道机器人运行状态的不可控，速度波动较大，检测维护的效果都不理想。As the main means of fluid transportation, pipelines are widely used in all aspects of production and life, especially in the petrochemical field. As the main means of oil and gas transportation, long-distance pipelines have already accounted for more than 80% of the entire oil and gas transportation. Long-distance pipelines need to be maintained and inspected after they have been in operation for a period of time. In the maintenance stage, low-speed pigging operations are required; in terms of inspection, it is hoped that the inspection equipment will operate at a low speed. The conventional operation method is to reduce the flow rate of the transported fluid to achieve the purpose of low-speed pigging and low-speed detection. But this greatly affects the production efficiency, and due to the uncontrollable operation state of the pipeline robot, the speed fluctuates greatly, and the effect of inspection and maintenance is not ideal.
目前比较广泛使用的流体驱动的管道机器人的控速均是采用电子的方式。管道机器人自身需要消耗大量电能用以时时刻刻调节阀门开度，以改变流体对机器人产生的作用力的大小。由于电池自身能量有限，使得电子控速的管道机器人作业距离受到极大限制。同时，采用电子结构，需要附带很多传感器、电机、驱动器、执行器等，使得控速管道机器人的结构很复杂，在恶劣工况下使用时，可靠性难以保证。At present, the speed control of the widely used fluid-driven pipeline robots is electronic. The pipeline robot itself needs to consume a lot of electric energy to adjust the opening of the valve all the time, so as to change the force of the fluid on the robot. Due to the limited energy of the battery itself, the working distance of the electronic speed-controlled pipeline robot is greatly limited. At the same time, the use of electronic structure requires a lot of sensors, motors, drivers, actuators, etc., making the structure of the speed control pipeline robot very complicated, and it is difficult to guarantee the reliability when used in harsh working conditions.
发明内容Contents of the invention
本发明的目的在于克服现有技术的缺点，提供一种可靠性高、原理简单的液压反馈控速管道机器人，采用液压的反馈回路，通过流体泵控制活塞缸体内的压力，从而调节阀门开度，实现机器人在管道内部的行走速度控制。The purpose of the present invention is to overcome the shortcomings of the prior art, and provide a hydraulic feedback speed control pipeline robot with high reliability and simple principle, which uses a hydraulic feedback loop to control the pressure in the piston cylinder through a fluid pump, thereby adjusting the valve opening. To achieve the control of the walking speed of the robot inside the pipeline.
本发明的目的通过以下技术方案来实现：液压反馈控速管道机器人，它包括壳体和皮碗，壳体的外壁上套装有至少两个皮碗，所述的液压反馈控速管道机器人还包括设置于壳体内部的活塞装置、设置于壳体一端的调节阀、流体泵和用于检测所述的机器人速度的速度采集轮，壳体的一端端面上开有开口，所述的活塞装置包括活塞缸体、活塞和伸缩杆，活塞缸体固定于壳体内，活塞滑动配合安装在活塞缸体内，活塞将活塞缸体分为油腔和非油腔，伸缩杆的一端固定于活塞位于非油腔一侧，伸缩杆的另一端连接有可调节开口开度的调节阀，调节阀与所述的开口配合，活塞缸体的油腔与进液管的一端连通，流体泵的出液口与进液管的另一端连通，活塞缸体的油腔还与回液管的一端连通，流体泵的进液口与回液管的另一端连通，回液管的管路上还设置有节流阀和可平衡内外压差的储液容器，所述的速度采集轮通过弹性臂安装在壳体的尾部，速度采集轮与流体泵传动相连。The purpose of the present invention is achieved through the following technical solutions: hydraulic feedback speed control pipeline robot, which includes a shell and a leather cup, at least two leather cups are set on the outer wall of the shell, and the hydraulic feedback speed control pipeline robot also includes The piston device arranged inside the casing, the regulating valve arranged at one end of the casing, the fluid pump and the speed acquisition wheel for detecting the speed of the robot, one end surface of the casing has an opening, and the piston device includes Piston cylinder, piston and telescopic rod, the piston cylinder is fixed in the housing, the piston is installed in the piston cylinder with sliding fit, the piston divides the piston cylinder into an oil chamber and a non-oil chamber, and one end of the telescopic rod is fixed on the piston in the non-oil chamber. On one side of the oil chamber, the other end of the telescopic rod is connected with a regulating valve that can adjust the opening of the opening. The regulating valve cooperates with the opening. It is connected with the other end of the liquid inlet pipe, the oil chamber of the piston cylinder is also connected with one end of the liquid return pipe, the liquid inlet of the fluid pump is connected with the other end of the liquid return pipe, and there is a throttling device on the return pipe. A valve and a liquid storage container capable of balancing internal and external pressure differences. The speed collection wheel is installed at the tail of the housing through an elastic arm, and the speed collection wheel is connected to the fluid pump through transmission.
所述的调节阀为板式结构，调节阀位于壳体外侧，伸缩杆的另一端与调节阀端面中心处固定连接，所述的开口的外侧壁上设置有锥面A，所述调节阀朝向开口的端面上设置有与锥面A配合的锥面B。The regulating valve is a plate structure, the regulating valve is located outside the housing, the other end of the telescopic rod is fixedly connected to the center of the end face of the regulating valve, the outer side wall of the opening is provided with a tapered surface A, and the regulating valve faces the opening A tapered surface B that cooperates with the tapered surface A is provided on the end surface.
所述的调节阀为蝶阀，调节阀安装在开口内壁上，伸缩杆的另一端与调节阀的端面边缘处铰接相连。The regulating valve is a butterfly valve, the regulating valve is installed on the inner wall of the opening, and the other end of the telescopic rod is hingedly connected with the edge of the end face of the regulating valve.
所述的调节阀为旋转阀，旋转阀包括转子和定子，定子固定在开口内，伸缩杆的另一端设置有可将直线运动转换成旋转运动的转换机构，转子与转换机构的输出端传动连接。The regulating valve is a rotary valve. The rotary valve includes a rotor and a stator. The stator is fixed in the opening. The other end of the telescopic rod is provided with a conversion mechanism that can convert linear motion into rotary motion. The rotor is connected to the output end of the conversion mechanism by transmission. .
所述的活塞缸体的非油腔内还设置有弹簧，弹簧套装于伸缩杆上，且弹簧的一端固定在活塞的端面上，另一端固定在活塞缸体的内侧端面上。The non-oil chamber of the piston cylinder is also provided with a spring, the spring is sleeved on the telescopic rod, and one end of the spring is fixed on the end surface of the piston, and the other end is fixed on the inner end surface of the piston cylinder.
所述的壳体的两端分别安装有支撑轮支架，每个支撑轮支架上安装有支撑轮，支撑轮支撑于管道的内壁上。Both ends of the housing are respectively equipped with supporting wheel brackets, each supporting wheel bracket is equipped with supporting wheels, and the supporting wheels are supported on the inner wall of the pipeline.
本发明具有以下优点：The present invention has the following advantages:
1、在壳体上设置用于检测机器人速度的速度采集轮，并通过速度采集轮驱动流体泵，转速越快，泵入活塞缸体内的液体就越多，而节流阀的开口为一定值，单位时间流出去的液体有限，使得伸缩杆往前移动量越大，调节阀与开口之间的开度变大，泄流量增大，机器人速度减慢，速度采集轮的速度减慢，流体泵泵入活塞缸体内的液体减少，调节阀与开口之间的开度变小，泄流量又减小，机器人速度又提升，如此反复，实现液压反馈控速。1. A speed acquisition wheel for detecting the speed of the robot is installed on the shell, and the fluid pump is driven by the speed acquisition wheel. The faster the speed, the more liquid is pumped into the piston cylinder, and the opening of the throttle valve is constant. value, the liquid flowing out per unit time is limited, so that the greater the amount of forward movement of the telescopic rod, the larger the opening between the regulating valve and the opening, the larger the discharge flow, the slower the speed of the robot, and the slower the speed of the speed acquisition wheel. The liquid pumped into the piston cylinder by the fluid pump decreases, the opening between the regulating valve and the opening becomes smaller, the discharge flow decreases, and the robot speed increases again, and so on, to realize hydraulic feedback speed control.
2、采用液压方式的控速管道机器人，由于直接使用液压能作为控速的能量来源，控速机构也巧妙采用液压的方式且原理简单，这使得该种机器人理论上可以在流体管道内无限长度的运行下去,同时，液压控速管道机器人使用的零件相比于电子式管道机器人更少，液压元件的可靠性相比于大量电子元件的可靠性更高，该种控速管道机器人的可靠性更高，更有利于适用于恶劣工况。2. The hydraulic speed control pipeline robot uses hydraulic energy directly as the energy source for speed control, and the speed control mechanism also cleverly adopts hydraulic mode and the principle is simple, which makes this kind of robot theoretically infinitely long in the fluid pipeline. At the same time, hydraulic speed-controlled pipeline robots use fewer parts than electronic pipeline robots, and the reliability of hydraulic components is higher than that of a large number of electronic components. The reliability of this speed-controlled pipeline robot Higher, more conducive to harsh working conditions.
附图说明Description of drawings
图1 为本发明第一个实施例的结构示意图；Fig. 1 is the structural representation of the first embodiment of the present invention;
图2 为本发明第二个实施例的结构示意图；Fig. 2 is the structural representation of the second embodiment of the present invention;
图3 为本发明第三个实施例的结构示意图；Fig. 3 is the structural representation of the third embodiment of the present invention;
图中：1-壳体，2-皮碗，3-支撑轮支架，4-支撑轮，5-活塞缸体，6-活塞，7-伸缩杆，8-调节阀，9-开口，10-锥面A，11-弹簧，12-流体泵，13-进液管，14-回液管，15-节流阀，16-储液容器，17-速度采集轮，18-弹性臂，19-管道，20-转子，21-定子，22-转换机构。In the figure: 1-shell, 2-skin cup, 3-support wheel bracket, 4-support wheel, 5-piston cylinder, 6-piston, 7-telescopic rod, 8-regulating valve, 9-opening, 10- Cone A, 11-spring, 12-fluid pump, 13-inlet pipe, 14-return pipe, 15-throttle valve, 16-liquid storage container, 17-speed collection wheel, 18-elastic arm, 19- Pipeline, 20-rotor, 21-stator, 22-conversion mechanism.
具体实施方式detailed description
下面结合附图和实施例对本发明做进一步的描述，但本发明的保护范围不局限于以下所述。The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but the protection scope of the present invention is not limited to the following description.
【实施例1】【Example 1】
如图1所示，液压反馈控速管道机器人，它包括壳体1和皮碗2，壳体1的外壁上套装有至少两个皮碗2，所述的液压反馈控速管道机器人还包括设置于壳体1内部的活塞装置、设置于壳体1一端的调节阀8、流体泵12和用于检测所述的机器人速度的速度采集轮17，壳体1的一端端面上开有开口9，所述的活塞装置包括活塞缸体5、活塞6和伸缩杆7，活塞缸体5固定于壳体1内，活塞6滑动配合安装在活塞缸体5内，活塞6将活塞缸体5分为油腔和非油腔，伸缩杆7的一端固定于活塞6位于非油腔一侧，伸缩杆7的另一端连接有可调节开口9开度的调节阀8，调节阀8与所述的开口9配合，所述的调节阀8为板式结构，调节阀8位于壳体1外侧，伸缩杆7的另一端与调节阀8端面中心处固定连接，所述的开口9的外侧壁上设置有锥面A10，所述调节阀8朝向开口9的端面上设置有与锥面A10配合的锥面B，活塞缸体5的油腔与进液管13的一端连通，流体泵12的出液口与进液管13的另一端连通，活塞缸体5的油腔还与回液管14的一端连通，流体泵12的进液口与回液管14的另一端连通，回液管14的管路上还设置有节流阀15和可平衡内外压差的储液容器16，所述的速度采集轮17通过弹性臂18安装在壳体1的尾部，速度采集轮17与流体泵12传动相连。As shown in Figure 1, the hydraulic feedback speed control pipeline robot includes a housing 1 and a leather cup 2, at least two leather cups 2 are set on the outer wall of the housing 1, and the hydraulic feedback speed control pipeline robot also includes a set The piston device inside the housing 1, the regulating valve 8 arranged at one end of the housing 1, the fluid pump 12 and the speed acquisition wheel 17 for detecting the speed of the robot, the housing 1 has an opening 9 on one end surface, The piston device includes a piston cylinder 5, a piston 6 and a telescopic rod 7, the piston cylinder 5 is fixed in the housing 1, the piston 6 is slidingly fitted in the piston cylinder 5, and the piston 6 divides the piston cylinder 5 into Oil chamber and non-oil chamber, one end of the telescopic rod 7 is fixed to the piston 6 on the side of the non-oil chamber, the other end of the telescopic rod 7 is connected with a regulating valve 8 that can adjust the opening of the opening 9, and the regulating valve 8 is connected to the opening 9, the regulating valve 8 is a plate structure, the regulating valve 8 is located outside the housing 1, the other end of the telescopic rod 7 is fixedly connected to the center of the end face of the regulating valve 8, and the outer wall of the opening 9 is provided with a cone Surface A10, the end surface of the regulating valve 8 facing the opening 9 is provided with a conical surface B matching the conical surface A10, the oil chamber of the piston cylinder 5 communicates with one end of the liquid inlet pipe 13, and the liquid outlet of the fluid pump 12 is connected to the The other end of the liquid inlet pipe 13 is connected, and the oil cavity of the piston cylinder 5 is also connected with one end of the liquid return pipe 14. The liquid inlet of the fluid pump 12 is connected with the other end of the liquid return pipe 14. On the pipeline of the liquid return pipe 14 A throttle valve 15 and a liquid storage container 16 capable of balancing internal and external pressure differences are also provided. The speed collection wheel 17 is mounted on the tail of the housing 1 through an elastic arm 18 , and the speed collection wheel 17 is connected to the fluid pump 12 by transmission.
进一步地，所述的活塞缸体5的非油腔内还设置有弹簧11，弹簧11套装于伸缩杆7上，且弹簧11的一端固定在活塞6的端面上，另一端固定在活塞缸体5的内侧端面上，当油缸内液压力减小时，弹簧11提供回复力，使得调节阀板8向远离开口9一侧移动。Further, the non-oil chamber of the piston cylinder 5 is also provided with a spring 11, the spring 11 is sleeved on the telescopic rod 7, and one end of the spring 11 is fixed on the end face of the piston 6, and the other end is fixed on the piston cylinder 5, when the hydraulic pressure in the oil cylinder decreases, the spring 11 provides a restoring force, so that the regulating valve plate 8 moves away from the opening 9.
进一步地，所述的壳体1的两端分别安装有支撑轮支架3，每个支撑轮支架3上安装有支撑轮4，支撑轮4支撑于管道19的内壁上，支撑轮4起到辅助支撑作用。Further, the two ends of the housing 1 are respectively equipped with supporting wheel brackets 3, each supporting wheel bracket 3 is equipped with a supporting wheel 4, the supporting wheels 4 are supported on the inner wall of the pipeline 19, and the supporting wheels 4 play an auxiliary role. supporting role.
工作时，将液压反馈控速管道机器人放在管道19内，假设初始速度为零，此时速度采集轮17所采集到的速度也为零，流体泵12不工作，即活塞缸体5内的活塞6位于最右端，同时调节阀8的锥面B与开口9的锥面A10紧密配合，在管道19内的流体压差状态下，液压反馈控速管道机器人向前移动，速度采集轮17开始转动，同时驱动流体泵12，随着液压反馈控速管道机器人移动速度增大，速度采集轮17的转动速度越大，同时流体泵12泵入活塞缸体5内的液体也就越多，而节流阀15的开度保持一定，当流体泵12的泵入流量大于节流阀15的开度临界流量时，从而推动活塞6向左移动，调节阀8与开口9之间的开度增大，泄流量增大，液压反馈控速管道机器人的速度减慢，速度采集轮17的转动速度变小，流体泵12泵入活塞缸体5内的液体减少，当流体泵12的泵入流量小于节流阀15的开度临界流量时，调节阀8又向右移动，调节阀8与开口9之间的开度减小，液压反馈控速管道机器人的速度又开始提升，如此周而复始，实现控速。When working, the hydraulic feedback speed control pipeline robot is placed in the pipeline 19, assuming that the initial speed is zero, the speed collected by the speed acquisition wheel 17 is also zero at this time, and the fluid pump 12 does not work, that is, the speed in the piston cylinder 5 The piston 6 is located at the far right end, and the conical surface B of the regulating valve 8 is closely matched with the conical surface A10 of the opening 9. Under the fluid pressure difference state in the pipeline 19, the hydraulic feedback speed control pipeline robot moves forward, and the speed acquisition wheel 17 starts Rotate and drive the fluid pump 12 at the same time, along with the hydraulic feedback speed control pipeline robot moving speed increases, the rotation speed of the speed acquisition wheel 17 is greater, and the liquid that the fluid pump 12 pumps into the piston cylinder 5 is also more at the same time, and The opening degree of the throttle valve 15 is kept constant, and when the pumping flow rate of the fluid pump 12 is greater than the critical flow rate of the opening degree of the throttle valve 15, the piston 6 is pushed to move to the left, and the opening degree between the regulating valve 8 and the opening 9 increases. Large, the discharge flow increases, the speed of the hydraulic feedback speed control pipeline robot slows down, the rotational speed of the speed acquisition wheel 17 becomes smaller, and the liquid pumped into the piston cylinder 5 by the fluid pump 12 decreases, when the pumped flow of the fluid pump 12 When the opening degree of the throttle valve 15 is less than the critical flow rate, the regulating valve 8 moves to the right again, the opening between the regulating valve 8 and the opening 9 decreases, and the speed of the hydraulic feedback speed control pipeline robot starts to increase again, and so on. speed control.
【实施例2】[Example 2]
如图2所示，液压反馈控速管道机器人，它包括壳体1和皮碗2，壳体1的外壁上套装有至少两个皮碗2，所述的液压反馈控速管道机器人还包括设置于壳体1内部的活塞装置、设置于壳体1一端的调节阀8、流体泵12和用于检测所述的机器人速度的速度采集轮17，壳体1的一端端面上开有开口9，所述的活塞装置包括活塞缸体5、活塞6和伸缩杆7，活塞缸体5固定于壳体1内，活塞6滑动配合安装在活塞缸体5内，活塞6将活塞缸体5分为油腔和非油腔，伸缩杆7的一端固定于活塞6位于非油腔一侧，伸缩杆7的另一端连接有可调节开口9开度的调节阀8，调节阀8与所述的开口9配合，所述的调节阀8为蝶阀，调节阀8安装在开口9内壁上，伸缩杆7的另一端与调节阀8的端面边缘处铰接相连，活塞缸体5的油腔与进液管13的一端连通，流体泵12的出液口与进液管13的另一端连通，活塞缸体5的油腔还与回液管14的一端连通，流体泵12的进液口与回液管14的另一端连通，回液管14的管路上还设置有节流阀15和可平衡内外压差的储液容器16，所述的速度采集轮17通过弹性臂18安装在壳体1的尾部，速度采集轮17与流体泵12传动相连。As shown in Figure 2, the hydraulic feedback speed control pipeline robot includes a housing 1 and a leather cup 2, at least two leather cups 2 are set on the outer wall of the housing 1, and the hydraulic feedback speed control pipeline robot also includes a set The piston device inside the housing 1, the regulating valve 8 arranged at one end of the housing 1, the fluid pump 12 and the speed acquisition wheel 17 for detecting the speed of the robot, the housing 1 has an opening 9 on one end surface, The piston device includes a piston cylinder 5, a piston 6 and a telescopic rod 7, the piston cylinder 5 is fixed in the housing 1, the piston 6 is slidingly fitted in the piston cylinder 5, and the piston 6 divides the piston cylinder 5 into Oil chamber and non-oil chamber, one end of the telescopic rod 7 is fixed to the piston 6 on the side of the non-oil chamber, the other end of the telescopic rod 7 is connected with a regulating valve 8 that can adjust the opening of the opening 9, and the regulating valve 8 is connected to the opening 9, the regulating valve 8 is a butterfly valve, the regulating valve 8 is installed on the inner wall of the opening 9, the other end of the telescopic rod 7 is hingedly connected with the edge of the end face of the regulating valve 8, the oil chamber of the piston cylinder 5 is connected to the liquid inlet pipe One end of 13 is communicated, the liquid outlet of fluid pump 12 is communicated with the other end of liquid inlet pipe 13, the oil chamber of piston cylinder 5 is also communicated with one end of liquid return pipe 14, the liquid inlet of fluid pump 12 is connected with liquid return pipe The other end of 14 is connected, and the pipeline of the liquid return pipe 14 is also provided with a throttle valve 15 and a liquid storage container 16 that can balance the internal and external pressure difference. The speed collection wheel 17 is installed on the tail of the housing 1 through an elastic arm , the speed acquisition wheel 17 is connected with the fluid pump 12 in transmission.
所述的活塞缸体5的非油腔内还设置有弹簧11，弹簧11套装于伸缩杆7上，且弹簧11的一端固定在活塞6的端面上，另一端固定在活塞缸体5的内侧端面上，当油缸内液压力减小时，弹簧11提供回复力，使得调节阀板8向远离开口9一侧移动。The non-oil chamber of the piston cylinder 5 is also provided with a spring 11, the spring 11 is sleeved on the telescopic rod 7, and one end of the spring 11 is fixed on the end face of the piston 6, and the other end is fixed on the inner side of the piston cylinder 5 On the end face, when the hydraulic pressure in the oil cylinder decreases, the spring 11 provides a restoring force, so that the regulating valve plate 8 moves away from the opening 9 .
所述的壳体1的两端分别安装有支撑轮支架3，每个支撑轮支架3上安装有支撑轮4，支撑轮4支撑于管道19的内壁上，支撑轮4起到辅助支撑作用。Both ends of the housing 1 are respectively equipped with supporting wheel brackets 3, each supporting wheel bracket 3 is equipped with a supporting wheel 4, the supporting wheels 4 are supported on the inner wall of the pipeline 19, and the supporting wheels 4 play an auxiliary supporting role.
工作时，将液压反馈控速管道机器人放在管道19内，假设初始速度为零，此时速度采集轮17所采集到的速度也为零，流体泵12不工作，即活塞缸体5内的活塞6位于最右端，此时调节阀8处于闭合状态，在管道19内的流体压差状态下，液压反馈控速管道机器人向前移动，速度采集轮17开始转动，同时驱动流体泵12，随着液压反馈控速管道机器人移动速度增大，速度采集轮17的转动速度越大，同时流体泵12泵入活塞缸体5内的液体也就越多，而节流阀15的开度保持一定，当流体泵12的泵入流量大于节流阀15的开度临界流量时，从而推动活塞6向左移动，调节阀8与开口9之间的开度增大，泄流量增大，液压反馈控速管道机器人的速度减慢，速度采集轮17的转动速度变小，流体泵12泵入活塞缸体5内的液体减少，当流体泵12的泵入流量小于节流阀15的开度临界流量时，调节阀8与开口9之间的开度减小，液压反馈控速管道机器人的速度又开始提升，如此周而复始，实现控速。When working, the hydraulic feedback speed control pipeline robot is placed in the pipeline 19, assuming that the initial speed is zero, the speed collected by the speed acquisition wheel 17 is also zero at this time, and the fluid pump 12 does not work, that is, the speed in the piston cylinder 5 The piston 6 is located at the far right end, and the regulating valve 8 is in the closed state at this time. Under the state of the fluid pressure difference in the pipeline 19, the hydraulic feedback speed control pipeline robot moves forward, the speed acquisition wheel 17 starts to rotate, and the fluid pump 12 is driven at the same time. As the moving speed of the hydraulic feedback speed control pipeline robot increases, the greater the rotational speed of the speed acquisition wheel 17, the more liquid the fluid pump 12 pumps into the piston cylinder 5, and the opening of the throttle valve 15 remains constant. , when the pumping flow of the fluid pump 12 is greater than the critical flow of the opening of the throttle valve 15, the piston 6 is pushed to move to the left, the opening between the regulating valve 8 and the opening 9 increases, the discharge flow increases, and the hydraulic feedback The speed of the speed-control pipeline robot slows down, the rotation speed of the speed acquisition wheel 17 becomes smaller, and the liquid pumped into the piston cylinder 5 by the fluid pump 12 decreases. When the flow rate is high, the opening between the regulating valve 8 and the opening 9 decreases, and the speed of the hydraulic feedback speed control pipeline robot starts to increase again, so that the speed control is realized again and again.
【实施例3】[Example 3]
如图3所示，液压反馈控速管道机器人，它包括壳体1和皮碗2，壳体1的外壁上套装有至少两个皮碗2，所述的液压反馈控速管道机器人还包括设置于壳体1内部的活塞装置、设置于壳体1一端的调节阀8、流体泵12和用于检测所述的机器人速度的速度采集轮17，壳体1的一端端面上开有开口9，所述的活塞装置包括活塞缸体5、活塞6和伸缩杆7，活塞缸体5固定于壳体1内，活塞6滑动配合安装在活塞缸体5内，活塞6将活塞缸体5分为油腔和非油腔，伸缩杆7的一端固定于活塞6位于非油腔一侧，伸缩杆7的另一端连接有可调节开口9开度的调节阀8，调节阀8与所述的开口9配合，所述的调节阀8为旋转阀，旋转阀包括转子20和定子21，定子21固定在开口9内，伸缩杆7的另一端设置有可将直线运动转换成旋转运动的转换机构22，转子20与转换机构22的输出端传动连接，活塞缸体5的油腔与进液管13的一端连通，流体泵12的出液口与进液管13的另一端连通，活塞缸体5的油腔还与回液管14的一端连通，流体泵12的进液口与回液管14的另一端连通，回液管14的管路上还设置有节流阀15和可平衡内外压差的储液容器16，所述的速度采集轮17通过弹性臂18安装在壳体1的尾部，速度采集轮17与流体泵12传动相连。As shown in Figure 3, the hydraulic feedback speed control pipeline robot includes a housing 1 and a leather cup 2, at least two leather cups 2 are set on the outer wall of the housing 1, and the hydraulic feedback speed control pipeline robot also includes a set The piston device inside the housing 1, the regulating valve 8 arranged at one end of the housing 1, the fluid pump 12 and the speed acquisition wheel 17 for detecting the speed of the robot, the housing 1 has an opening 9 on one end surface, The piston device includes a piston cylinder 5, a piston 6 and a telescopic rod 7, the piston cylinder 5 is fixed in the housing 1, the piston 6 is slidingly fitted in the piston cylinder 5, and the piston 6 divides the piston cylinder 5 into Oil chamber and non-oil chamber, one end of the telescopic rod 7 is fixed to the piston 6 on the side of the non-oil chamber, the other end of the telescopic rod 7 is connected with a regulating valve 8 that can adjust the opening of the opening 9, and the regulating valve 8 is connected to the opening 9, the regulating valve 8 is a rotary valve, the rotary valve includes a rotor 20 and a stator 21, the stator 21 is fixed in the opening 9, and the other end of the telescopic rod 7 is provided with a conversion mechanism 22 that can convert linear motion into rotary motion , the rotor 20 is in transmission connection with the output end of the conversion mechanism 22, the oil cavity of the piston cylinder 5 communicates with one end of the liquid inlet pipe 13, the liquid outlet of the fluid pump 12 communicates with the other end of the liquid inlet pipe 13, and the piston cylinder 5 The oil cavity of the oil chamber is also connected with one end of the liquid return pipe 14, the liquid inlet of the fluid pump 12 is connected with the other end of the liquid return pipe 14, and the pipeline of the liquid return pipe 14 is also provided with a throttle valve 15 and can balance the internal and external pressure difference. The liquid storage container 16, the speed collection wheel 17 is installed on the tail of the housing 1 through the elastic arm 18, and the speed collection wheel 17 is connected with the fluid pump 12 by transmission.
所述的活塞缸体5的非油腔内还设置有弹簧11，弹簧11套装于伸缩杆7上，且弹簧11的一端固定在活塞6的端面上，另一端固定在活塞缸体5的内侧端面上，当油缸内液压力减小时，弹簧11提供回复力，使得调节阀板8向远离开口9一侧移动。The non-oil chamber of the piston cylinder 5 is also provided with a spring 11, the spring 11 is sleeved on the telescopic rod 7, and one end of the spring 11 is fixed on the end face of the piston 6, and the other end is fixed on the inner side of the piston cylinder 5 On the end face, when the hydraulic pressure in the oil cylinder decreases, the spring 11 provides a restoring force, so that the regulating valve plate 8 moves away from the opening 9 .
所述的壳体1的两端分别安装有支撑轮支架3，每个支撑轮支架3上安装有支撑轮4，支撑轮4支撑于管道19的内壁上，支撑轮4起到辅助支撑作用。Both ends of the housing 1 are respectively equipped with supporting wheel brackets 3, each supporting wheel bracket 3 is equipped with a supporting wheel 4, the supporting wheels 4 are supported on the inner wall of the pipeline 19, and the supporting wheels 4 play an auxiliary supporting role.
工作时，将液压反馈控速管道机器人放在管道19内，假设初始速度为零，此时速度采集轮17所采集到的速度也为零，流体泵12不工作，即活塞缸体5内的活塞6位于最右端，此时旋转阀处于闭合状态，在管道19内的流体压差状态下，液压反馈控速管道机器人向前移动，速度采集轮17开始转动，同时驱动流体泵12，随着液压反馈控速管道机器人移动速度增大，速度采集轮17的转动速度越大，同时流体泵12泵入活塞缸体5内的液体也就越多，而节流阀15的开度保持一定，当流体泵12的泵入流量大于节流阀15的开度临界流量时，从而推动活塞6向左移动，伸缩杆7向左伸出，转换机构22将伸缩杆7的直线运行转换成旋转运动，从而带动转子20转动，旋转阀开度增大，泄流量增大，液压反馈控速管道机器人的速度减慢，速度采集轮17的转动速度变小，流体泵12泵入活塞缸体5内的液体减少，当流体泵12的泵入流量小于节流阀15的开度临界流量时，调节阀8的开度减小，液压反馈控速管道机器人的速度又开始提升，如此周而复始，实现控速。When working, the hydraulic feedback speed control pipeline robot is placed in the pipeline 19, assuming that the initial speed is zero, the speed collected by the speed acquisition wheel 17 is also zero at this time, and the fluid pump 12 does not work, that is, the speed in the piston cylinder 5 Piston 6 is located at the far right end. At this time, the rotary valve is in a closed state. Under the state of fluid pressure difference in the pipeline 19, the hydraulic feedback speed control pipeline robot moves forward, and the speed acquisition wheel 17 starts to rotate. At the same time, the fluid pump 12 is driven. As the moving speed of the hydraulic feedback speed control pipeline robot increases, the greater the rotational speed of the speed acquisition wheel 17, the more liquid the fluid pump 12 pumps into the piston cylinder 5, and the opening of the throttle valve 15 remains constant. When the pumping flow rate of the fluid pump 12 is greater than the critical flow rate of the opening of the throttle valve 15, the piston 6 is pushed to move to the left, the telescopic rod 7 stretches out to the left, and the conversion mechanism 22 converts the linear operation of the telescopic rod 7 into a rotary motion , so as to drive the rotor 20 to rotate, the opening of the rotary valve increases, the discharge flow increases, the speed of the hydraulic feedback speed control pipeline robot slows down, the rotation speed of the speed acquisition wheel 17 becomes smaller, and the fluid pump 12 is pumped into the piston cylinder 5 When the pumping flow rate of the fluid pump 12 is less than the critical flow rate of the opening of the throttle valve 15, the opening of the regulating valve 8 decreases, and the speed of the hydraulic feedback speed control pipeline robot starts to increase again. speed.
| Application Number | Priority Date | Filing Date | Title |
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| CN201511013716 | 2015-12-31 | ||
| CN2015110137166 | 2015-12-31 |
| Publication Number | Publication Date |
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| CN105822868Btrue CN105822868B (en) | 2017-10-17 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201610151862.3AExpired - Fee RelatedCN105822868B (en) | 2015-12-31 | 2016-03-17 | Hydraulic feedback rate controlling pipe robot |
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