CN112204294B

CN112204294B - Pipeline robot

Info

Publication number: CN112204294B
Application number: CN202080001663.9A
Authority: CN
Inventors: 李鹏; 徐恩志; 杨陶; 申延涛
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2020-08-17
Filing date: 2020-08-17
Publication date: 2022-07-22
Anticipated expiration: 2040-08-17
Also published as: WO2022036516A1; CN112204294A

Abstract

The invention discloses a pipeline robot, which comprises a moving mechanism, a telescopic arm and an elastic mechanism, wherein the telescopic arm is arranged on the elastic mechanism, the moving mechanism is arranged at one end of the telescopic arm, which is far away from the elastic mechanism, the moving mechanism can move along the inner wall of a pipeline to drive the telescopic arm and the elastic mechanism to move along the pipeline, when the moving mechanism moves to a position with a smaller pipeline diameter, the inner wall of the pipeline extrudes the moving mechanism, and the moving mechanism extrudes the telescopic arm to enable the telescopic arm to contract, so that the pipeline robot can move at the position with the smaller pipeline diameter. When the moving mechanism moves to the position with the larger pipeline diameter, the telescopic arm extends under the action of the elastic mechanism, so that the telescopic arm drives the moving mechanism to move towards the inner wall of the pipeline until the moving mechanism is contacted with the inner wall of the pipeline, and the pipeline robot can move at the position with the larger pipeline diameter.

Description

Pipeline robot

Technical Field

The invention relates to the technical field of industrial machinery, in particular to a pipeline robot.

Background

Pipelines are widely used in various fields as an effective material conveying means. In order to improve the life of the pipeline and to ensure safe, stable and reliable operation of the pipeline, a pipeline robot which can move and detect in the pipeline is produced.

In prior art, pipeline robot need carry out specific design according to the pipe diameter of different pipelines, when pipeline pipe diameter variation range is great, for example when the two times of minimum pipeline pipe diameter are regarded as to maximum pipeline pipe diameter, current pipeline robot will unable adaptation minimum pipeline pipe diameter and maximum pipeline pipe diameter simultaneously, leads to pipeline robot can't remove in the great pipeline of pipeline pipe diameter change.

Disclosure of Invention

The invention mainly aims to provide a pipeline robot, and aims to solve the technical problem that the pipeline robot in the prior art cannot move in a pipeline with large pipe diameter change.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a pipeline robot comprises a moving mechanism, a telescopic arm and an elastic mechanism, wherein the telescopic arm is arranged on the elastic mechanism, the moving mechanism is arranged at one end, away from the elastic mechanism, of the telescopic arm, the moving mechanism can move along the inner wall of a pipeline to drive the telescopic arm and the elastic mechanism to move along the pipeline, and when the moving mechanism moves to a position with a smaller pipe diameter of the pipeline, the telescopic arm is used for contracting under the extrusion of the inner wall of the pipeline so as to enable the moving mechanism to pass through the position with the smaller pipe diameter of the pipeline; when moving mechanism removes when the great position of pipeline pipe diameter, flexible arm still is used for elastic mechanism self elastic recovery effect is extended down, so that moving mechanism passes through the great position of pipeline pipe diameter, elastic mechanism is used for doing flexible arm provides the power that extends.

Optionally, the elastic mechanism includes elastic component and supporting component, the elastic component sets up on the supporting component, flexible arm with the elastic component deviates from the one end of supporting component is articulated each other, the elastic component is used for making under the effect of self elastic recovery power flexible arm extends, the supporting component is used for supporting flexible arm is flexible.

Optionally, the elastic assembly includes a first elastic element and a second elastic element, the first elastic element is used for extending the telescopic arm along the first direction under the action of self elastic restoring force, and the second elastic element is used for extending the telescopic arm along the second direction under the action of self elastic restoring force.

Optionally, the first elastic element includes a first connecting piece, a first guiding piece and a first elastic piece, the first guiding piece and the supporting assembly are hinged to each other, one end of the first guiding piece, which is far away from the supporting assembly, is provided with a first guiding groove, the first elastic piece is arranged in the first guiding groove, one end of the first connecting piece is arranged in the first guiding groove and abuts against the first elastic piece, and the telescopic arm and one end of the first connecting piece, which is far away from the first elastic piece, are hinged to each other, wherein the first elastic piece enables the first connecting piece to move towards the inner wall of the pipeline along the first guiding groove under the action of self elastic restoring force, so that the first connecting piece drives the telescopic arm to extend along a first direction; the second elastic element comprises a second connecting piece, a second guide piece and a second elastic piece, the second guide piece is hinged to the supporting assembly, a second guide groove is formed in one end, far away from the supporting assembly, of the second guide piece, the second elastic piece is arranged in the second guide groove, one end of the second connecting piece is arranged in the second guide groove and abuts against the second elastic piece, the telescopic arm is hinged to one end, far away from the second elastic piece, of the second connecting piece, the second elastic piece enables the second connecting piece to move towards the inner wall of the pipeline along the second guide groove under the effect of elastic restoring force of the second elastic piece, and therefore the second connecting piece drives the telescopic arm to extend in the second direction.

Optionally, the telescopic arm and the support assembly are hinged to each other to confine one end of the first connecting rod in the first guide groove and one end of the second connecting rod in the second guide groove.

Optionally, the elastic mechanism further includes a first limiting component, and the first limiting component is used for limiting the telescopic arm to rotate relative to the support component.

Optionally, the telescopic arm comprises a plurality of scissor units, and in two adjacent scissor units, one end of one scissor unit and one end of the other scissor unit are hinged to each other, one scissor unit close to the elastic mechanism and the elastic mechanism in the telescopic arm are hinged to each other, and one scissor unit far away from the elastic mechanism and the moving mechanism are hinged to each other.

Optionally, the telescopic arm further comprises a first half scissor unit, one end of the first half scissor unit is hinged to one scissor unit far away from the elastic mechanism, and the other end of the first half scissor unit is hinged to the moving mechanism.

Optionally, the telescopic arm further comprises a second half scissor unit, one end of the second half scissor unit is hinged to one scissor unit close to the elastic mechanism, and the other end of the second half scissor unit is hinged to the elastic mechanism.

Optionally, the moving mechanism includes a vehicle body, and a wheel and a motor assembly that are disposed on the vehicle body, the wheel and the motor assembly are in transmission connection, and the motor assembly is used for driving the wheel to rotate and steer.

Compared with the prior art, the invention has the following beneficial effects:

this application drives flexible arm and elastic mechanism through moving mechanism and removes along the pipeline, and when moving mechanism removed the less position of pipeline diameter, pipeline inner wall extrusion moving mechanism, moving mechanism extrusion flexible arm to make flexible arm shrink, thereby make pipeline robot can remove at the less position of pipeline diameter. When the moving mechanism moves to the position with the larger pipeline diameter, the telescopic arm extends under the action of the elastic mechanism, so that the telescopic arm drives the moving mechanism to move towards the inner wall of the pipeline until the moving mechanism is contacted with the inner wall of the pipeline, and the pipeline robot can move at the position with the larger pipeline diameter. The telescopic arm can enable the pipeline robot to move in a pipeline with a large pipeline diameter change, so that the applicability of the pipeline robot is improved.

Drawings

In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the embodiments or technical solutions of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of a pipeline robot of one embodiment of the present application;

FIG. 2 is a schematic view of a spring mechanism of an embodiment of the present application;

FIG. 3 is an exploded view of the elastomeric component of one embodiment of the present application;

FIG. 4 is an assembled view of the telescoping arm and support mechanism of one embodiment of the present application;

FIG. 5 is an assembly view of a first stop assembly and a support assembly of one embodiment of the present application;

FIG. 6 is an assembly view of the telescoping arm and support mechanism of another embodiment of the present application;

FIG. 7 is a schematic view of a telescoping arm of a further embodiment of the present application;

FIG. 8 is a schematic view of a scissor unit of an embodiment of the present application;

FIG. 9 is a schematic view of a first half scissor unit of an embodiment of the present application;

FIG. 10 is a schematic view of a second half scissor unit of an embodiment of the present application;

FIG. 11 is a schematic view of a pipeline robot of another embodiment of the present application;

FIG. 12 is a schematic view of a movement mechanism of an embodiment of the present application;

10. a pipeline robot; 1. a moving mechanism; 11. a vehicle body; 12. a wheel; 13. a motor assembly; 131. a first motor; 132. a second motor; 14. a second limiting component; 141. a third limiting member; 142. a fourth limiting member; 2. a telescopic arm; 21. a scissor-fork unit; 211. an upper layer straight rod; 212. a lower straight rod; 213. an upper straight rod; 214. a lower straight rod; 215. an upper layer straight rod; 216. a lower straight rod; 22. a first half scissor unit; 221. a first half straight rod on the upper layer; 222. a first lower half straight rod; 23. a second half scissor unit; 231. a second half straight rod on the upper layer; 232. a lower second half straight rod; 3. an elastic mechanism; 31. an elastic component; 311. a first elastic element; 3111. a first connecting member; 3112. a first elastic member; 3113. a first guide member; 3114. a first guide groove; 312. a second elastic element; 3121. a second connecting member; 3122. a second elastic member; 3123. a second guide member; 3124. a second guide groove; 313. a first direction; 314. a second direction; 32. a support assembly; 321. a first support plate; 3211. a first limit groove; 322. a second support plate; 3221. a second limit groove; 33. a first limiting component; 331. a first limit piece; 3311. a first avoidance slot; 332. a second limiting member; 3321. a second avoidance slot; 333. a connecting member.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and back) in the embodiments of the present invention are only used for explaining the relative position relationship between the components in a specific posture (as shown in the drawings), the motion situation, and the like, and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, "and/or" in the whole text includes three schemes, taking a and/or B as an example, and includes a technical scheme a, a technical scheme B, and a technical scheme that a and B meet simultaneously; in addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

As shown in fig. 1, the present embodiment provides a pipeline robot 10, which includes a moving mechanism 1, a telescopic arm 2 and an elastic mechanism 3, wherein the telescopic arm 2 is disposed on the elastic mechanism 3, and the moving mechanism 1 is disposed on one end of the telescopic arm 2 away from the elastic mechanism 3; moving mechanism 1 can follow the pipeline inner wall and remove, move along the pipeline with drive telescopic boom 2 and elastic mechanism 3, when moving mechanism 1 moved the less position of pipeline pipe diameter, telescopic boom 2 was used for the shrink under the extrusion of pipeline inner wall, so that moving mechanism 1 passes through the less position of pipeline pipe diameter, when moving mechanism 1 moved the great position of pipeline pipe diameter, telescopic boom 2 still was used for extending under the effect of elastic recovery power of elastic mechanism 3 self, elastic mechanism 3 is used for providing flexible power for telescopic boom 2.

This embodiment drives flexible arm 2 and elastic mechanism 3 through moving mechanism 1 and moves along the pipeline, and when moving mechanism 1 moved the less position of pipeline pipe diameter, pipeline inner wall extrusion moving mechanism 1, moving mechanism 1 extrusion flexible arm 2 to make flexible arm 2 shrink, thereby make pipeline robot 10 can move at the less position of pipeline pipe diameter. When the moving mechanism 1 moves to the position with larger pipeline diameter, the telescopic arm 2 extends under the action of the elastic mechanism 3, so that the telescopic arm 2 drives the moving mechanism 1 to move towards the inner wall of the pipeline until the moving mechanism 1 contacts with the inner wall of the pipeline, and the pipeline robot 10 can move at the position with larger pipeline diameter. The telescopic boom 2 can move the pipeline robot 10 in a pipeline with a large pipe diameter change, thereby improving the applicability of the pipeline robot 10.

The quantity of moving mechanism 1 and flexible arm 2 is a plurality ofly, and a plurality of flexible arms 2 set up respectively on elastic mechanism 3, and moving mechanism 1 sets up on flexible arm 2 deviates from one of elastic mechanism 3, and wherein, a plurality of moving mechanism 1 and a plurality of flexible arm 2 one-to-one.

In the present embodiment, the number of the moving mechanism 1 and the telescopic arm 2 is four. It will be appreciated that in alternative embodiments, the number of moving mechanisms 1 and telescopic arms 2 is not limited to four, and may be determined according to the actual situation.

As shown in fig. 2, the elastic mechanism 3 includes an elastic component 31 and a support component 32, the elastic component 31 is disposed on the support component 32, the telescopic arm 2 and one end of the elastic component 31 departing from the support component 32 are hinged to each other, the elastic component 31 is used for extending the telescopic arm 2 under the action of self elastic restoring force, and the support component 32 is used for supporting the telescopic arm 2 to stretch. When the moving mechanism 1 moves to a position where the pipeline diameter is smaller, the inner wall of the pipeline presses the moving mechanism 1, and the moving mechanism 1 presses the telescopic arm 2, so that the telescopic arm 2 presses the elastic component 31 while contracting; when the moving mechanism 1 moves to a position where the pipe diameter of the pipeline is large, the elastic component 31 drives the telescopic arm 2 to extend under the action of self elastic restoring force, so that the telescopic arm 2 drives the moving mechanism 1 to move towards the inner wall of the pipeline until the moving mechanism 1 contacts with the inner wall of the pipeline.

The number of the elastic assemblies 31 is plural, the plural elastic assemblies 31 are respectively arranged on the supporting assembly 32, and the plural telescopic arms 2 correspond to the plural elastic assemblies 31 one by one.

In the present embodiment, the number of the elastic members 31 is four. It will be appreciated that in alternative embodiments, the number of the elastic members 31 is not limited to four, and may be determined according to actual situations.

As shown in fig. 3, the elastic assembly 31 includes a first elastic element 311 and a second elastic element 312, the first elastic element 311 is used for extending the telescopic arm 2 along a first direction 313 under the action of self elastic restoring force, and the second elastic element 312 is used for extending the telescopic arm 2 along a second direction 314 under the action of self elastic restoring force.

First elastic component 311 includes first connecting piece 3111, first elastic component 3112 and first guide 3113, first guide 3113 and supporting component 32 are articulated each other, the one end that supporting component 32 is kept away from to first guide 3113 has first guide 3114, first elastic component 3112 sets up in first guide 3114, the one end setting of first connecting piece 3111 is in first guide 3114 and supports first elastic component 3112, telescopic arm 2 and the one end that first elastic component 3112 is kept away from to first connecting piece 3111 are articulated each other, wherein, first elastic component 3112 makes first connecting piece 3111 move towards the pipeline inner wall along first guide 3114 under the effect of self elastic restoring force, so that first connecting piece 3111 drives telescopic arm 2 to extend along first direction 313.

The second elastic element 312 includes a second connecting member 3121, a second elastic member 3122, and a second guide member 3123, the second guide member 3123 and the support assembly 32 are hinged to each other, one end of the second guide member 3123, which is far away from the support assembly 32, has a second guide groove 3124, the second elastic member 3122 is disposed in the second guide groove 3124, one end of the second connecting member 3121 is disposed in the second guide groove 3124 and abuts against the second elastic member 3122, the telescopic arm 2 and one end of the second connecting member 3121, which is far away from the second elastic member 3122, are hinged to each other, wherein the second elastic member 3122 makes the second connecting member 3121 move toward the inner wall of the duct along the second guide groove 3124 under the action of its own elastic restoring force, so that the second connecting member 3121 drives the telescopic arm 2 to extend in the second direction 314.

When the moving mechanism 1 moves to a position where the pipe diameter of the pipe is small, the pipe presses the moving mechanism 1, and the moving mechanism 1 presses the telescopic arm 2, so that the telescopic arm 2 presses the first connecting piece 3111 and the second connecting piece 3121 while contracting, and thus the first connecting piece 3111 and the second connecting piece 3121 press the first elastic piece 3112 and the second elastic piece 3122 which correspond to each other; when the moving mechanism 1 moves to a position where the pipe diameter of the pipe is large, the first elastic part 3112 and the second elastic part 3122 make the corresponding first connecting part 3111 and the corresponding second connecting part 3121 move towards the inner wall of the pipe under the action of the elastic restoring force, so that the first connecting part 3111 and the second connecting part 3121 respectively drive the telescopic arm 2 to extend, and the telescopic arm 2 drives the moving mechanism 1 to move towards the inner wall of the pipe until the moving mechanism 1 contacts with the inner wall of the pipe. The first elastic element 311 and the second elastic member 3122 can simultaneously drive the telescopic arm 2 from two directions to extend, thereby improving the extension efficiency of the telescopic arm 2.

As shown in fig. 2, the support member 32 includes a first support plate 321 and a second support plate 322 connected to each other, and a plurality of elastic members 31 are respectively disposed between the first support plate 321 and the second support plate 322.

In the present embodiment, the first elastic member 311 and the second elastic member 312 are rotatably disposed between the first support plate 321 and the second support plate 322, respectively. When the moving mechanism 1 moves to a position where the pipe diameter of the pipe is small, the pipe presses the moving mechanism 1, the moving mechanism 1 presses the telescopic arm 2, and the telescopic arm 2 presses the first elastic element 311 and the second elastic element 312 while contracting, so that the first elastic component 31 and the second elastic component 31 respectively rotate reversely between the first supporting plate 321 and the second supporting plate 322, thereby improving the expansion ratio of the pipe robot 10 and widening the application range of the pipe robot 10.

As shown in fig. 3, the first guide 3113 and the second guide 3123 are rotatably disposed between the first support plate 321 and the second support plate 322, respectively. When the moving mechanism 1 moves to a position where the pipe diameter of the pipe is small, the pipe presses the moving mechanism 1, the moving mechanism 1 presses the telescopic arm 2, the telescopic arm 2 presses the first connection part 3111 and the second connection part 3121 while contracting, the first connection part 3111 and the second connection part 3121 press the first elastic part 3112 and the second elastic part 3122, respectively, the first elastic part 3112 and the second elastic part 3122 press the first guide part 3113 and the second guide part 3123, respectively, so that the first guide part 3113 and the second guide part 3123 reversely rotate between the first support plate 321 and the second support plate 322, respectively, thereby improving the expansion ratio of the pipe robot 10 and making the application range of the pipe robot 10 wider.

As shown in fig. 4, the telescopic arm 2 and the support assembly 32 are hinged to each other to restrain one end of the first link 3111 in the first guide groove 3114 and one end of the second link 3121 in the second guide groove 3124. When the first elastic member 3112 and the second elastic member 3122 move the respective corresponding first link 3111 and second link 3121 toward the inner wall of the duct by the respective elastic restoring forces, since the telescopic arm 2 is hinged to the first link 3111 and the second link 3121, respectively, and the telescopic arm 2 is pulled by the support assembly 32, the first link 3111 and the second link 3121 can be prevented from being escaped from the respective corresponding first guide groove 3114 and second guide groove 3124, thereby improving the reliability of the elastic mechanism 3.

Specifically, the first support plate 321, the telescopic arm 2, and the second support plate 322 are sequentially hinged through a hinge shaft from top to bottom to confine one end of the first connection member 3111 within the first guide groove 3114 and one end of the second connection member 3121 within the second guide groove 3124. When the first elastic member 3112 and the second elastic member 3122 move the respective corresponding first coupling member 3111 and second coupling member 3121 toward the inner wall of the duct by the respective elastic restoring forces, since the telescopic arms 2 are hinged to the first coupling member 3111 and the second coupling member 3121, respectively, and the telescopic arms 2 are simultaneously drawn from both directions by the first support plate 321 and the second support plate 322, the first coupling member 3111 and the second coupling member 3121 can be prevented from being escaped from the respective corresponding first guide groove 3114 and second guide groove 3124, thereby improving the reliability of the elastic mechanism 3.

As shown in fig. 5 and 6, the elastic mechanism 3 further includes a first limiting component 33, and the first limiting component 33 is used for limiting the telescopic arm 2 from rotating relative to the support component 32, so as to ensure that the angle of the telescopic arm 2 relative to the support component 32 is always kept constant during the traveling process of the pipeline robot 10, thereby improving the reliability of the pipeline robot 10 during the traveling process.

One end of the first limiting component 33 is hinged to the telescopic arm 2, and the other end of the first limiting component is arranged on the supporting component 32 and can slide along the supporting component 32 to limit the telescopic arm 2 to rotate relative to the supporting component 32, so that the angle of the telescopic arm 2 relative to the supporting component 32 is always kept unchanged.

Specifically, a first limit groove 3211 is disposed on the first support plate 321, a second limit groove 3221 is disposed at a position of the second support plate 322 corresponding to the first limit groove 3211, the first limit component 33 includes a first limit part 331, a second limit part 332, and a connecting member 333, one end of the first limit part 331, one end of the telescopic arm 2, and one end of the second limit part 332 are sequentially hinged from top to bottom through a hinge shaft, the other end of the first limit part 331 and the other end of the second limit part 332 are connected through the connecting member 333, and the connecting member 333 is located between the first limit groove 3211 and the second limit groove 3221. When the moving mechanism 1 moves to a position where the pipeline diameter is smaller, the pipeline presses the moving mechanism 1, and the moving mechanism 1 presses the telescopic arm 2, so that the telescopic arm 2 retracts and simultaneously drives the first limiting member 331 and the second limiting member 332 to slide along the corresponding first limiting groove 3211 and second limiting groove 3221, so as to limit the telescopic arm 2 to rotate relative to the support component 32, and thus the angle of the telescopic arm 2 relative to the support component 32 is always kept unchanged.

In the present embodiment, the first limiting member 331 is a plate-shaped structure. It can be understood that, in alternative embodiments, the first limiting member 331 is not limited to a plate-shaped structure, and may be determined according to actual situations.

The first position-limiting member 331 is provided with a first avoidance groove 3311, the second position-limiting member 332 is provided with a second avoidance groove 3321, and a hinge shaft hinged to the first support plate 321, the telescopic arm 2 and the second support plate 322 is located between the first avoidance groove 3311 and the second avoidance groove 3321. The first and

second stopper members

331 and 332 can be made to avoid the hinge shaft that is hinged to the first support plate 321, the telescopic arm 2, and the second support plate 322 by the first and second avoiding

grooves

3311 and 3321, so that the first and

second stopper members

331 and 332 can smoothly slide along the first and second limiting

grooves

3211 and 3221, thereby improving the reliability of the telescopic arm 2 in extension and retraction.

In the present embodiment, the second limiting member 332 has a plate-shaped structure. It is understood that, in alternative embodiments, the second limiting member 332 is not limited to a plate-shaped structure, and may be determined according to actual situations.

As shown in fig. 7, telescopic arm 2 includes a plurality of scissor units 21, and in two adjacent scissor units 21, one end of one scissor unit 21 and one end of the other scissor unit 21 are hinged to each other, one scissor unit 21 close to elastic mechanism 3 and elastic mechanism 3 in telescopic arm 2 are hinged to each other, and one scissor unit 21 far from elastic mechanism 3 and moving mechanism 1 are hinged to each other. The telescopic capacity of the telescopic arm 2 is improved by mutual rotation between two adjacent scissor units 21.

As shown in fig. 8, each of the scissor units 21 includes a plurality of straight bars, the middle portions of the plurality of straight bars of each of the scissor units 21 are hinged to each other, and in two adjacent scissor units 21, one end of each of the plurality of straight bars of one of the scissor units 21 and one end of each of the plurality of straight bars of the other scissor unit 21 are hinged to each other.

In the present embodiment, each scissor unit 21 includes two straight bars, an upper straight bar 211 and a lower straight bar 212, and a middle portion of the upper straight bar 211 and a middle portion of the lower straight bar 212 are hinged to each other by a hinge shaft. It can be understood that, in alternative embodiments, the number of straight rods of each scissor unit 21 is not limited to two, and may be determined according to actual requirements.

As shown in fig. 7, the telescopic arm 2 further includes a first half scissor unit 22, one end of the first half scissor unit 22 is hinged to one scissor unit 21 far away from the elastic mechanism 3, and the other end is hinged to the moving mechanism 1. The telescopic capacity of telescopic arm 2 is increased by the mutual rotation between first half scissor unit 22 and scissor unit 21.

As shown in fig. 9, the first half scissor unit 22 includes a plurality of half straight bars, one ends of the plurality of first half straight bars in the first half scissor unit 22 are hinged to each other, and the other ends of the plurality of first half straight bars in the first half scissor unit 22 are hinged to the scissor unit 21.

In this embodiment, the first half scissor unit 22 includes two first half straight bars, which are an upper layer first half straight bar 221 and a lower layer first half straight bar 222, respectively, one end of the upper layer first half straight bar 221 and one end of the lower layer first half straight bar 222 are hinged to each other through a hinge shaft, and the other end of the upper layer first half straight bar 221 and the other end of the lower layer first half straight bar 222 are correspondingly hinged to the scissor unit 21 through a hinge shaft. It will be appreciated that in alternative embodiments, the number of the first half straight rods of the first half scissor unit 22 is not limited to two, and may be determined according to actual requirements.

As shown in fig. 7, the telescopic arm 2 further includes a second half scissor unit 23, one end of the second half scissor unit 23 is hinged to one scissor unit 21 close to the elastic mechanism 3, and the other end is hinged to the elastic mechanism 3. The telescopic capacity of the telescopic arm 2 is improved by the mutual rotation between the second half scissor unit 23 and the scissor unit 21.

As shown in fig. 10, the second half-scissor unit 23 includes a plurality of second half straight bars, one ends of the plurality of second half straight bars in the second half-scissor unit 23 are hinged to each other, and the other ends of the plurality of second half straight bars in the second half-scissor unit 23 are hinged to the scissor unit 21.

In this embodiment, the second half scissor unit 23 includes two second half straight rods hinged to each other, namely, an upper second half straight rod 231 and a lower second half straight rod 232, one end of the upper second half straight rod 231 and one end of the lower second half straight rod 232 are hinged to each other through a hinge shaft, and the other end of the upper second half straight rod 231 and the other end of the lower second half straight rod 232 are correspondingly hinged to the scissor unit 21 through a hinge shaft. It can be understood that, in alternative embodiments, the number of the second half straight rods of the second half scissor unit 23 is not limited to two, and may be determined according to actual requirements.

As shown in fig. 11, the moving mechanism 1 is hinged to one end of the upper first half straight rod 221 and one end of the lower first half straight rod 222 through a hinge shaft, one end of the upper first half straight rod 211 and the other end of the lower first half straight rod 222 are hinged to each other through a hinge shaft, one end of the lower straight rod 212 and the other end of the upper first half straight rod 221 are hinged to each other, the middle of the upper straight rod 211 and the middle of the lower straight rod 212 are hinged to each other through a hinge shaft, one end of the upper straight rod 213 and the other end of the lower straight rod 212 are hinged to each other through a hinge shaft, one end of the lower straight rod 214 and the other end of the upper straight rod 211 are hinged to each other through a hinge shaft, the middle of the upper straight rod 213 and the middle of the lower straight rod 214 are hinged to each other through a hinge shaft, one end of the upper straight rod 215 and the other end of the lower straight rod 216 and the other end of the upper straight rod 213 are hinged to each other through a hinge shaft, the middle part of upper straight-bar 215 and the middle part of lower floor's straight-bar 216 pass through the articulated shaft and articulate each other, and the one end of upper second half straight-bar 231 and the other end of lower floor's straight-bar 216 pass through the articulated shaft and articulate each other, and the one end of lower floor's second half straight-bar 232 and the other end of upper second half straight-bar 215 pass through the articulated shaft and articulate each other, and the other end of upper second half straight-bar 231 and the other end of lower floor's second half straight-bar 232 pass through the articulated shaft and articulate each other. One end of the upper second half straight rod 231, one end of the first connecting member 3111, and the other end of the lower half straight rod 216 are sequentially hinged through a hinge shaft from top to bottom, the other end of the upper half straight rod 215, one end of the second connecting member 3121, and one end of the lower half straight rod 232 are sequentially hinged through a hinge shaft from top to bottom, one end of the first support plate 321, the other end of the upper second half straight rod 231, the other end of the lower half straight rod 232, and one end of the second support plate 322 are sequentially hinged through a hinge shaft from top to bottom, one end of the first stopper 331, the middle of the upper half straight rod 215, the middle of the lower half straight rod 216, and one end of the second stopper 332 are sequentially hinged through a hinge shaft from top to bottom.

As shown in fig. 12, the moving mechanism 1 includes a vehicle body 11, and a wheel 12 and a motor assembly 13 disposed on the vehicle body 11, wherein the wheel 12 is in transmission connection with the motor assembly 13, and the motor assembly 13 is used for driving the wheel 12 to rotate and steer.

The motor assembly 13 includes a first motor 131 and a second motor 132, the first motor 131 and the second motor 132 are respectively disposed on the vehicle body 11, the wheel 12 is respectively connected with the first motor 131 and the second motor 132 in a transmission manner, the first motor 131 is used for driving the wheel 12 to rotate, and the second motor 132 is used for driving the wheel 12 to rotate. The steering of the wheel 12 can be changed by the second motor 132 to change the posture of the pipeline robot 10 during traveling, so that the pipeline robot 10 can avoid obstacles while moving in the pipeline, thereby improving the applicability of the pipeline robot.

The moving mechanism 1 further comprises a second limiting component 14, and the second limiting component 14 is used for limiting the rotation of the vehicle body 11 relative to the telescopic arm 2, so that the angle of the vehicle body 11 relative to the telescopic arm 2 is always kept unchanged in the advancing process of the pipeline robot, and the reliability of the pipeline robot in the advancing process is improved.

The second position-limiting assembly 14 includes a third position-limiting member 141 and a fourth position-limiting member 142, the third position-limiting member 141 is disposed on the vehicle body 11, the fourth position-limiting member 142 is disposed on the telescopic arm 2, the fourth position-limiting member 142 has a position-limiting through hole, and the third position-limiting member 141 is disposed in the position-limiting through hole to limit the vehicle body 11 from rotating relative to the telescopic arm 2. The angle of the vehicle body 11 relative to the telescopic arm 2 is always kept constant by the mutual matching of the third limiting member 141 and the limiting through hole.

In the present embodiment, the third limiting member 141 is a rod-shaped structure. It is understood that, in an alternative embodiment, the third limiting member 141 is not limited to a rod-shaped structure, and the third limiting member can be determined according to the actual situation.

In the embodiment, the fourth position-limiting element 142 is a block structure. It is understood that, in alternative embodiments, the fourth limiting member 142 is not limited to a block structure, and can be determined according to actual situations.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A pipeline robot is characterized by comprising a moving mechanism, a telescopic arm and an elastic mechanism, wherein the telescopic arm is arranged on the elastic mechanism, the moving mechanism is arranged at one end, far away from the elastic mechanism, of the telescopic arm, the moving mechanism can move along the inner wall of a pipeline to drive the telescopic arm and the elastic mechanism to move along the pipeline, and when the moving mechanism moves to the position with a smaller pipe diameter, the telescopic arm is used for contracting under the extrusion of the inner wall of the pipeline so that the moving mechanism passes through the position with the smaller pipe diameter; when the moving mechanism moves to a position with a larger pipe diameter of the pipeline, the telescopic arm is also used for stretching under the action of the elastic restoring force of the elastic mechanism, so that the moving mechanism passes through the position with the larger pipe diameter of the pipeline, and the elastic mechanism is used for providing stretching power for the telescopic arm;

the elastic mechanism comprises an elastic component and a supporting component, the elastic component is arranged on the supporting component, the telescopic arm and one end of the elastic component, which is far away from the supporting component, are hinged with each other, the elastic component is used for enabling the telescopic arm to extend under the action of self elastic restoring force, the supporting component supports the telescopic arm to stretch through the elastic component, and the stretching amount of the pipeline robot in the radial direction of a pipeline is formed by the telescopic arm and the stretching component of the elastic component in the radial direction of the pipeline;

the telescopic arm comprises a plurality of scissor-type units, one end of one scissor-type unit and one end of the other scissor-type unit are hinged to each other in two adjacent scissor-type units, one scissor-type unit close to the elastic mechanism in the telescopic arm is hinged to the elastic mechanism, and one scissor-type unit far away from the elastic mechanism is hinged to the moving mechanism.

2. The pipeline robot of claim 1, wherein the elastic assembly comprises a first elastic member for extending the telescopic arm in the first direction by its own elastic restoring force and a second elastic member for extending the telescopic arm in the second direction by its own elastic restoring force.

3. The pipeline robot of claim 2,

the first elastic element comprises a first connecting piece, a first guide piece and a first elastic piece, the first guide piece and the support assembly are hinged with each other, one end, far away from the support assembly, of the first guide piece is provided with a first guide groove, the first elastic piece is arranged in the first guide groove, one end of the first connecting piece is arranged in the first guide groove and abuts against the first elastic piece, and the telescopic arm and one end, far away from the first elastic piece, of the first connecting piece are hinged with each other, wherein the first elastic piece enables the first connecting piece to move towards the inner wall of the pipeline along the first guide groove under the action of self elastic restoring force, so that the first connecting piece drives the telescopic arm to extend along a first direction;

the second elastic element comprises a second connecting piece, a second guide piece and a second elastic piece, the second guide piece is hinged to the supporting assembly, a second guide groove is formed in one end, far away from the supporting assembly, of the second guide piece, the second elastic piece is arranged in the second guide groove, one end of the second connecting piece is arranged in the second guide groove and abuts against the second elastic piece, the telescopic arm is hinged to one end, far away from the second elastic piece, of the second connecting piece, the second elastic piece enables the second connecting piece to move towards the inner wall of the pipeline along the second guide groove under the effect of elastic restoring force of the second elastic piece, and therefore the second connecting piece drives the telescopic arm to extend in the second direction.

4. The pipeline robot of claim 3, wherein the telescopic arm and the support assembly are hinged to each other to restrain one end of the first link within the first guide groove and one end of the second link within the second guide groove.

5. The pipeline robot of claim 1, wherein the elastic mechanism further comprises a first limiting component for limiting rotation of the telescopic arm relative to the support component.

6. The pipeline robot of claim 1, wherein the telescopic arm further comprises a first half scissor unit, one end of the first half scissor unit is hinged to one scissor unit away from the elastic mechanism, and the other end of the first half scissor unit is hinged to the moving mechanism.

7. The pipeline robot of claim 1, wherein the telescopic arm further comprises a second half-scissor unit, one end of the second half-scissor unit is hinged to one of the scissor units adjacent to the elastic mechanism, and the other end of the second half-scissor unit is hinged to the elastic mechanism.

8. The pipeline robot of claim 1, wherein the moving mechanism comprises a vehicle body, and a wheel and a motor assembly arranged on the vehicle body, the wheel and the motor assembly are in transmission connection, the motor assembly is used for driving the wheel to rotate and turn, the motor assembly comprises a first motor and a second motor, the first motor and the second motor are respectively arranged on the vehicle body, the wheel is in transmission connection with the first motor and the second motor, the first motor is used for driving the wheel to rotate, the second motor is used for driving the wheel to rotate, and the turning direction of the wheel can be changed through the second motor, so that the posture of the pipeline robot during the traveling process can be changed.