CN114151650B - Pipeline inspection robot and control method - Google Patents
Pipeline inspection robot and control method Download PDFInfo
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- CN114151650B CN114151650B CN202111554154.1A CN202111554154A CN114151650B CN 114151650 B CN114151650 B CN 114151650B CN 202111554154 A CN202111554154 A CN 202111554154A CN 114151650 B CN114151650 B CN 114151650B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/40—Constructional aspects of the body
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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Abstract
The invention discloses a pipeline inspection robot and a control method thereof. Each walking unit comprises a supporting rod, a supporting device and a driving device, wherein the supporting device is arranged on the supporting rod and is of an umbrella-shaped structure, the inner diameter of the pipeline is adapted by changing the opening angle, and the driving device is used for driving the walking unit to walk in the pipeline. According to the invention, the diameter of the robot can be flexibly changed through the umbrella-shaped supporting device so as to adapt to the change of the inner diameter of the pipeline; meanwhile, the two walking units are connected through the steering device, so that the walking units can quickly pass through the bent pipe.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pipeline inspection robot and a control method.
Background
The pipeline is widely used in the fields of gas transportation, water flow dredging, petrochemical industry and thermoelectric vapor transmission, and is an indispensable ring in daily life. The pipeline forms a main conveying mode of oil and gas together with land, waterway and empty transportation means. With the continuous development of socioeconomic performance, the safety problem of pipelines is always a problem of close attention of the country and the society. Periodic line maintenance, safety checks and troubleshooting of the pipeline are all very important.
The pipeline inspection robot is one integrated system with one or several sensors and operation machine capable of walking automatically inside or outside small pipeline and with remote control or computer control. The pipeline detection maintenance platform takes the motion mechanism as a carrier and can selectively carry related detection instruments according to production tasks. The method is widely applied to industries such as military, electric power, petroleum and petrochemical industry, nondestructive testing, municipal administration, archaeology and the like.
Pipeline inspection robots are common equipment for pipeline inspection at present. The detection work of the complex pipeline structure can be completed by using the pipeline inspection robot. The existing detection modes are as follows: the camera observes, simulates imaging, and the color difference judges the rust degree, and the nondestructive contact sensor judges the pipe quality change. Besides the conventional detection function, the pipeline inspection robot can simultaneously finish the functions of cleaning, maintenance and the like. Classifying according to the walking type of the pipeline inspection robot in the pipe, wherein the pipeline inspection robot can be divided into: walking, wheel-driven, crawler-type and telescopic. Among them, the axle driven robot has many applications and it is easy to handle. Particularly in a straight pipe, the device has high maneuverability, and can realize more flexible direction changing and bending movement. The form of the robot is gradually developed from single action to multi-body linkage. Because of the complexity of the functional requirements, the function of the existing wheel axle driven pipeline inspection robot can only meet the pipeline detection requirements with simple structures, such as straight pipes or pipelines with unchanged diameters, but has weak adaptability to pipelines in complex environments.
Disclosure of Invention
The embodiment of the invention provides a pipeline inspection robot and a control method, which are used for solving the problem that a pipeline inspection robot driven by a wheel shaft in the prior art has weak pipeline adaptability to complex environments.
In one aspect, an embodiment of the present invention provides a pipeline inspection robot, including a first walking unit and a second walking unit, where the first walking unit and the second walking unit each include:
a support rod;
support device, support device includes:
the movable sleeve is sleeved on the support rod in a sliding manner;
one end of the main umbrella rib is rotationally connected with the supporting rod;
one end of the auxiliary rib is rotationally connected with the movable sleeve, and the other end of the auxiliary rib is rotationally connected with the main rib;
a driving device, the driving device comprising:
the driving control box is rotationally connected with the other end of the main rib;
the travelling wheel is used for contacting with the inner wall of the pipeline and is driven by the driving control box to rotate;
the first walking unit and the second walking unit are connected through a steering device, and the steering device is used for adjusting the angle between the first walking unit and the second walking unit.
On the other hand, the embodiment of the invention also provides a control method of the pipeline inspection robot, which comprises the following steps:
the supporting device is opened to enable the travelling wheel to be in contact with the inner wall of the pipeline;
sending a patrol instruction to the pipeline patrol robot, wherein the pipeline patrol robot moves in the pipeline and collects information in the pipeline;
and the pipeline inspection robot determines whether to turn according to the acquired information, if so, the steering device is started, and the angle between the first walking unit and the second walking unit is adjusted, so that the pipeline inspection robot smoothly passes through the curve.
The pipeline inspection robot and the control method have the following advantages:
1. the diameter of the robot can be flexibly changed through the umbrella-shaped supporting device so as to adapt to the change of the inner diameter of the pipeline;
2. the two walking units are connected through the steering device, and can pass through the bent pipe quickly.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a pipeline inspection robot according to an embodiment of the present invention;
fig. 2 is an axial structural schematic diagram of a supporting device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a partial connection structure of a support rod and a support device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a connection structure between a supporting device and a driving wheel device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a counterweight device according to an embodiment of the invention;
fig. 6 is a schematic structural diagram of a steering device in a first walking unit according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a steering device in a second walking unit according to an embodiment of the present invention.
Reference numerals illustrate: the device comprises a 1-pipeline, a 2-travelling wheel, a 3-driving control box, a 4-main umbrella rib, a 5-detection device, a 6-auxiliary umbrella rib, a 7-counterweight device, an 8-supporting rod, a 9-movable sleeve, a 10-main control box, an 11-power supply device, a 12-steering device, a 13-counterweight pull rod, a 14-supporting pull rod, a 15-separation device, a 16-limiting rope, a 17-limiting caliper, a 18-counterweight ring, a 19-counterweight fixing rod, a 20-fixing tray, a 21-fixing nut, a 22-connecting bolt, a 23-sleeve fixing disc, a 24-pull rod fixing disc, a 25-steering gear, a 26-driving gear, a 27-limiting rod, a 28-fixing clamp, a 29-connecting disc and a 30-steering rod.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Fig. 1 to 7 are schematic structural diagrams of a pipeline inspection robot according to an embodiment of the present invention. The embodiment of the invention provides a pipeline inspection robot, which comprises a first walking unit and a second walking unit, wherein the first walking unit and the second walking unit comprise:
a support bar 8;
support device, support device includes:
the movable sleeve 9 is sleeved on the support rod 8 in a sliding way;
the main umbrella rib 4, one end of the main umbrella rib 4 is rotatably connected with the supporting rod 8;
an auxiliary rib 6, wherein one end of the auxiliary rib 6 is rotationally connected with the movable sleeve 9, and the other end is rotationally connected with the main rib 4;
a driving device, the driving device comprising:
the driving control box 3 is rotationally connected with the other end of the main umbrella rib 4;
the travelling wheel 2 is used for contacting with the inner wall of the pipeline 1, and the travelling wheel 2 is driven by the drive control box 3 to rotate;
the first walking unit and the second walking unit are connected through a steering device 12, and the steering device 12 is used for adjusting the angle between the first walking unit and the second walking unit.
The first walking unit and the second walking unit are similar in function and structure, the second walking unit is used as a redundant backup of the first walking unit, and when the first walking unit fails and cannot work normally, the second walking unit can start and continue to execute unfinished work of the first walking unit.
The supporting rod 8 can be a cylindrical or prismatic hollow rod, can be made of materials such as steel or aluminum alloy, and is blocked by special plugs at two ends, and the space inside the supporting rod 8 can be used for laying power or signal cables. The main ribs 4 and the auxiliary ribs 6 may use thin rods with a certain toughness, for example, steel thin rods, which can generate a certain elastic deformation when being subjected to external pressure, and can recover the shape when the external force disappears, so as to adapt to the tiny diameter change inside the pipeline 1.
In the embodiment of the invention, the pressure sensor is arranged on the travelling wheel 2 and is used for detecting the pressure of the inner side wall of the pipeline 1 received by the travelling wheel 2, the pressure can reflect the extrusion degree between the travelling wheel 2 and the inner wall of the pipeline 1, if the pressure is larger, the diameter of an umbrella-shaped structure formed by opening the current supporting device is larger than the inner diameter of the pipeline 1 in a natural state and is extruded by the pipeline 1, and the diameter of the supporting device is equivalent to that of the pipeline 1, so that the main umbrella rib 4 and the auxiliary umbrella rib 6 are elastically deformed greatly due to the larger received pressure. If the pressure is small or even zero, this indicates that the road wheel 2 is not in sufficient contact with the inner wall of the pipe 1. In general, the inner walls of the travelling wheel 2 and the pipeline 1 need to have proper pressure, that is, the main umbrella rib 4 is elastically deformed to a certain extent, so as to maintain sufficient contact between the travelling wheel 2 and the inner wall of the pipeline 1. When the diameter of the pipeline 1 is greatly changed, the pressure sensor firstly detects the pressure change, and then the movable sleeve 9 moves on the supporting rod 8 to change the opening angle of the main umbrella rib 4, so that the walking wheel 2 and the inner wall of the pipeline 1 have proper pressure.
The support rod 8 is taken as a one-dimensional coordinate axis, and the moving length X of the movable sleeve 9 0 The calculation formula is as follows:
wherein X is the initial position of the movable sleeve 9 on the support rod 8; mu is a constant coefficient; p (P) 0 The pressure test value is obtained by acquiring the pressure sensor of the pipeline inspection robot for a plurality of times in a normal working state; p (P) i The pressure value obtained by the actual collection of the pressure sensor is obtained; arctan () is an arctangent trigonometric function.
The driving control box 3 can be internally provided with a driving circuit board and a stepping motor, the driving circuit board is used for driving the stepping motor to work, and the stepping motor is connected with the travelling wheel 2 so as to drive the travelling wheel 2 to rotate, and then the first travelling unit and the second travelling unit walk in the pipeline 1.
In one possible embodiment, the steering device 12 comprises: a steering housing provided at one end of the support rod 8 of the first travel unit; the steering rod 30, one end of the steering rod 30 is inserted into the steering shell, and the other end is connected with the supporting rod 8 of the second walking unit; the steering gear 25, the steering gear 25 rotates and sets up in turning to the inside of casing, and steering gear 25 is connected perpendicularly with the one end that steering rod 30 inserted the steering casing, and steering gear 25 is used for driving steering rod 30 rotation to the angle between the first walking unit and the second walking unit.
Illustratively, a driving gear 26 is rotatably arranged in the steering housing, the driving gear 26 is meshed with the steering gear 25, and the driving gear 26 drives the steering gear 25 to rotate under the driving of the steering driving unit. The steering driving unit may adopt a motor, preferably a stepper motor, and the motor can drive the driving gear 26 to rotate after being electrified, so as to drive the steering rod 30 to rotate through the steering gear 25. Since the steering device is provided only on the first travel unit, the axial direction of the steering rod 30 is the same as the axial direction of the support rod 8 in the second travel unit, and thus, when the steering rod 30 is rotated, the angle between the first travel unit and the second travel unit is changed.
In the embodiment of the present invention, the number of teeth of the driving gear 26 and the steering gear 25 are different, specifically, the number of teeth of the driving gear 26 is smaller than the number of teeth of the steering gear 25, so that the rotation angular velocity of the steering gear 25 is lower than the angular velocity of the driving gear 26 under the driving of the steering driving unit, and the torque during rotation is amplified, so that the steering rod 30 can be smoothly driven.
Meanwhile, a limiting rod 27 is further arranged inside the steering shell, and the limiting rod 27 is used for limiting the rotation angle of the steering rod 30. The stop lever 27 is specifically disposed at an end of the steering housing, into which the steering lever 30 is inserted, and contacts the stop lever 27 when the steering lever 30 is rotated to a maximum angle, and the stop lever 27 prevents the steering lever 30 from continuing to rotate, thereby limiting the rotation angle. Under the action of the stop lever 27, the steering lever 30 can complete rotation within a range of plus or minus 90 degrees, so that the first traveling unit and the second traveling unit can pass through the complex pipeline 1.
In one possible embodiment, the method further comprises: the separator 15, separator 15 sets up the one end at the bracing piece 8 of second walking unit, separator 15 includes: a fixed clamp 28; the connecting disc 29, fixed pincers 28 swing joint is on the connecting disc 29, and the connecting disc 29 is fixed connection with the one end of the bracing piece 8 of second walking unit, and when fixed pincers 28 are closed, the other end joint of steering column 30 is inside fixed pincers 28.
Illustratively, the number of the fixing clips 28 is at least two, preferably three, and the fixing clips 28 may have a claw structure, one end of which is rotatably connected to the connection disc 29, and the other end of which is provided with a grip groove on the opposite side of the plurality of fixing clips 28, and the steering lever 30 has a bulged grip head at one end connected to the second traveling unit, which may be engaged in the grip groove formed by the plurality of fixing clips 28 together.
In an embodiment of the present invention, the plurality of fixing clips 28 may be provided with electromagnetic attraction devices on opposite sides, and when the electromagnetic attraction devices are energized, attraction forces between the electromagnetic attraction devices can be generated, so that the plurality of fixing clips 28 are closed to clamp the steering rod 30. When the pipeline inspection robot encounters an emergency, for example, when a pipeline is suddenly damaged, the interior of the pipeline is seriously blocked or the robot has a part of structural faults, and a walking unit in a fault range cannot be evacuated, the electromagnetic attraction device can be electrified with reverse current or powered off, so that the fixed clamp 28 can be opened or can be opened easily, and the two walking units can be disconnected.
In another embodiment of the present invention, the plurality of fixing clips 28 may be connected on opposite sides by springs that provide a spring force that connects the plurality of fixing clips 28 together, under which force the plurality of fixing clips 28 close, clamping the steering rod 30. Meanwhile, the plurality of fixing pincers 28 can be provided with electromagnetic attraction devices on opposite side surfaces, when the electromagnetic attraction devices are electrified, repulsive force between the electromagnetic attraction devices can be generated, the repulsive force is larger than the pulling force of the springs on the plurality of fixing pincers 28, the plurality of fixing pincers 28 are opened, and the steering rod 30 can be disconnected with the separating device 15.
In a possible embodiment, one end of the supporting rod 8 is provided with a main control box 10, a supporting driving unit is arranged inside the main control box 10 and connected with a supporting pull rod 14, the tail end of the supporting pull rod 14 is connected with the movable sleeve 9, and the supporting driving unit is used for driving the supporting pull rod 14 to move so as to adjust the position of the movable sleeve 9 on the supporting rod 8.
Illustratively, the support tie rod 14 may be a rigid rod that is axially capable of withstanding forces in both the opposite directions of pushing and pulling. The support driving unit can adopt a combination of a motor, a gear and a rack, the rack is arranged on the support pull rod 14, the gear is meshed with the rack, the motor drives the gear to rotate, and the support pull rod 14 can be driven to move, so that the position of the movable sleeve 9 on the support rod 8 is adjusted. Specifically, the moving length X of the movable sleeve 9 is determined according to the above formula 0 The length of movement of the support links 14 can then be determined from this length of movement.
In the embodiment of the invention, the movable sleeve 9 is provided with a sleeve fixing disc 23 and a pull rod fixing disc 24, wherein the number of the sleeve fixing discs 23 is the same as that of the auxiliary ribs 6, and each auxiliary rib 6 is connected to the sleeve fixing disc 23 in a uniform and corresponding rotation manner. The number of tie rod retention plates 24 may be one, with the ends of the support tie rods 14 rotatably attached to the tie rod retention plates 24.
In a possible embodiment, the other end of the support rod 8 is slidingly provided with a counterweight device 7; the main control box 10 is also internally provided with a counterweight driving unit, the counterweight driving unit is connected with the counterweight device 7 through a counterweight pull rod 13, and the counterweight driving unit is used for driving the counterweight pull rod 13 to move so as to adjust the position of the counterweight device 7 on the support rod 8.
Illustratively, since more devices are provided on the support bar 8 and some of the devices are provided at the ends of the support bar 8, this has an effect on the center of gravity of the support bar 8 and the devices thereon. When the center of gravity deviates from the geometric center of the contact area of the supporting device and the pipeline 1, the stability of the whole walking unit becomes worse, so that in order to compensate the stability change of the walking unit caused by the change of the center of gravity of the supporting device, a counterweight device 7 is further arranged on the supporting rod 8, and the counterweight device 7 can also move on the supporting rod 8 under the driving of a counterweight pull rod 13, so that the whole center of gravity of the walking unit is adjusted.
With the support bar 8 as one-dimensional coordinatesLength of movement L 'of shaft, weight tie rod 13' 1 The calculation formula is as follows:
wherein L is 1 For the telescopic length of the counterweight pull rod 13, m 1 The weight of the counterweight device, L is the gravity center position data of the robot analyzed according to the detection data of the attitude angle sensor of the robot, and m 2 L is the total weight of the supporting device, the driving control box 3 and the travelling wheel 2 2 For the initial position of the center of gravity of the supporting device, the driving control box 3 and the travelling wheel 2, L' 2 M is the position of the supporting device, the driving control box 3 and the walking wheel 2 after the gravity center is changed after the supporting device is adjusted 3 L is the weight of the support bar 8 3 For the position of the centre of gravity of the support bar 8, m 4 L is the total weight of the steering device 12, the separating device 15, the main control box 10, the detecting device 5, the communication unit and the power supply device 11 4 The center of gravity of the steering device 12, the separating device 15, the main control box 10, the detecting device 5, the communication unit, and the power supply device 11.
In the embodiment of the present invention, the counterweight device 7 includes: the counterweight rings 18 are sleeved on the support rods 8 in a sliding manner; the fixed trays 20 are respectively arranged at two sides of the counterweight ring 18 and used for clamping the counterweight ring 18; the weight fixing lever 19, the weight fixing lever 19 is used to connect two fixing trays 20. The end of the weight fixing rod 19 is provided with a fixing nut 21, and the fixing nut 21 is in threaded connection with the weight fixing rod 19 for fixing the weight fixing rod 19 on the fixing tray 20. The number of weight rings 18 may be increased or decreased as desired.
Further, one end of the weight fixing rod 19 is provided with a connecting bolt 22, and the connecting bolt 22 is screwed with the weight pull rod 13. The connecting bolt 22 may be screwed or welded with the weight fixing rod 19.
In one possible embodiment, an angle adjusting driving unit is arranged inside the driving control box 3, a limit caliper 17 is movably arranged on the side surface of the driving control box 3 facing the main umbrella rib 4, and the limit caliper 17 moves under the driving of the angle adjusting driving unit; the tail end of the limit caliper 17 is rotationally connected with the main rib 4, and when the limit caliper 17 moves under the drive of the angle adjusting driving unit, the included angle between the driving control box 3 and the main rib 4 changes, so that the driving control box 3 is in a state parallel to the inner wall of the pipeline 1.
Illustratively, the angle adjusting driving unit may be a combination of a motor, a gear and a rack, the rack may be disposed on the limit caliper 17, and the rack is meshed with the gear, and the motor drives the gear to rotate so as to drive the limit caliper 17 to move along the length direction, so as to drive the main rib 4 to rotate, and keep the driving control box 3 in a state parallel to the inner wall of the pipeline 1 at any time.
In one possible embodiment, the method further comprises: the detection device 5, the detection device 5 is arranged on the first walking unit and/or the second walking unit, and the detection unit 5 is used for collecting information in the pipeline 1.
Illustratively, the detecting device 5 may include a camera and an illumination lamp, both of which may be provided on the main rib 4. The camera is used for collecting image information in the pipeline 1, and the illuminating lamp is used for providing a good illumination environment.
In addition to the camera and the illumination lamp described above, the detection device 5 may include an ultrasonic sensor, a posture angle sensor, a GPS positioning unit, a gas sensor, a temperature sensor, and the like, which may be provided at various positions of the walking unit. The ultrasonic sensor is used for detecting the conditions of cracks and uneven thickness of the inner wall of the pipeline 1, the attitude angle sensor is used for detecting the attitude information of the robot, the GPS positioning unit can accurately position the robot in the pipeline 1, and the gas sensor and the temperature sensor respectively detect the gas characteristics and the temperature distribution conditions in the pipeline 1.
In the embodiment of the present invention, the main control box 10 is further provided with a main controller and a communication unit, where the main controller is electrically connected to the driving control box 3, the steering driving unit, the electromagnetic attraction device, the supporting driving unit, the counterweight driving unit, the angle adjusting driving unit and the detecting device 5, and the main controller is used for integrally controlling the running, steering, separating, supporting, gravity center adjusting, angle adjusting and internal information collecting of the pipeline 1. The communication unit is used for realizing communication connection between the main controller and the external control equipment, the information in the pipeline 1 acquired by the main controller can be uploaded to the external control equipment through the communication unit, and the control instruction sent by the external control equipment can be issued to the main controller through the communication unit.
In one possible embodiment, the supporting rod 8 is connected with a plurality of main ribs 4, and a limiting rope 16 is connected between two adjacent main ribs 4, and the limiting rope 16 is used for limiting the rotation angle of the main ribs 4.
Illustratively, the stopper cord 16 is a flexible cord that can only withstand tensile forces. Under the action of the limiting rope 16, when the main rib 4 is opened to the maximum angle, the included angle between the main rib and the supporting rod 8 is 50 degrees.
In a possible embodiment, the support bar 8 is provided with power supply means 11, the power supply means 11 being arranged to provide power.
For example, the power supply device 11 may employ a large-capacity lithium battery pack, which is provided in the drive control box. In the embodiment of the invention, the power supply device 11 is matched with the power supply conversion unit to output three voltages of +5V, +15V and +48V so as to meet the voltage requirements of different devices and units.
The embodiment of the invention also provides a control method of the pipeline inspection robot, which comprises the following steps:
the supporting device is opened to enable the travelling wheel 2 to be in contact with the inner wall of the pipeline 1;
sending a patrol instruction to the pipeline patrol robot, wherein the pipeline patrol robot moves in the pipeline 1 and collects information in the pipeline 1;
the pipeline inspection robot determines whether to turn according to the acquired information, if so, the steering device 12 is started, and the angle between the first walking unit and the second walking unit is adjusted, so that the pipeline inspection robot can smoothly pass through the curve.
Illustratively, the method specifically comprises:
1. communication antennas at other outlets outside and inside the pipeline 1 are established, a preparation work is made for communication after the robot enters the pipeline 1, the robot is put into the opening of the pipeline 1 and pre-starting is started.
2. And initializing a system. All detection devices in the inspection robot start to feed back detection signals to the main controller, and a system working program starts to judge whether each detection device, each control device and each communication device are normal or not.
3. After the system initialization is finished, if all detection devices and equipment of the inspection robot are normal, the first walking unit and the second walking unit are started simultaneously, at the moment, the supporting devices of the two units are all stretched until all the walking wheels 2 are tightly attached to the pipe wall, and all the detection devices of the inspection robot start to feed back detection signals to the main controller. And the main controller adjusts the supporting device and the counterweight device 7 according to the pressure value fed back by the pressure sensor and the robot gesture detected by the gesture angle sensor until the system program setting requirement is met.
4. And the external control equipment gives a patrol instruction, and the patrol robot enters the pipeline to start patrol according to the control instruction returned by the communication unit. Detection devices such as a camera, a pressure sensor, an ultrasonic sensor, a gesture angle sensor, a GPS positioning unit, a gas sensor, a temperature sensor and the like on the inspection robot start to work in real time and feed back detection data to the main controller, and meanwhile the data are uploaded to external control equipment outside the pipeline 1 through the communication unit. Meanwhile, the inspection robot adjusts the posture of the robot in real time in the advancing process of the robot according to the detection value of the pressure sensor and the detection value of the posture angle sensor, and adjusts the supporting device and the counterweight device.
5. When it is determined that the pipe 1 is to be entered based on the camera data on the inspection robot, the detection value of the pressure sensor and the detection data of the attitude angle sensor are used to determine whether or not to start the turning device 12 using the system program. If it is determined to activate the steering device 12, the support device, the counterweight device 7 and the steering device 12 are adjusted in real time to ensure that the robot passes smoothly through the curve.
6. When the first walking unit or the second walking unit of the inspection robot is in a fault range according to the camera data of the inspection robot, the pressure sensor and the ultrasonic sensor, starting the separation device 15 and storing related data information, and after the separation device 15 mechanically separates the two walking units, the walking unit in a normal working range starts to be far away from the fault region and completes a pipeline evacuation task according to an instruction issued by external control equipment outside the pipeline.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (7)
1. The utility model provides a pipeline inspection robot which characterized in that, including first walking unit and second walking unit, first walking unit and second walking unit all include:
a support rod (8);
a support device, the support device comprising:
the movable sleeve (9) is sleeved on the supporting rod (8) in a sliding way;
a main rib (4), wherein one end of the main rib (4) is rotationally connected with the supporting rod (8);
an auxiliary rib (6), wherein one end of the auxiliary rib (6) is rotationally connected with the movable sleeve (9), and the other end of the auxiliary rib is rotationally connected with the main rib (4);
a driving device, the driving device comprising:
the driving control box (3), the said driving control box (3) rotates with another end of the said main rib (4);
the travelling wheel (2) is used for being in contact with the inner wall of the pipeline (1), and the travelling wheel (2) is driven by the driving control box (3) to rotate;
the first walking unit and the second walking unit are connected through a steering device (12), and the steering device (12) is used for adjusting the angle between the first walking unit and the second walking unit;
the steering device (12) comprises:
a steering housing provided at one end of a support rod (8) of the first travel unit;
a steering rod (30), wherein one end of the steering rod (30) is inserted into the steering shell, and the other end of the steering rod is connected with the supporting rod (8) of the second walking unit;
the steering gear (25) is rotatably arranged inside the steering shell, the steering gear (25) is vertically connected with one end of the steering rod (30) inserted into the steering shell, and the steering gear (25) is used for driving the steering rod (30) to rotate so as to adjust the angle between the first walking unit and the second walking unit;
further comprises:
separation device (15), separation device (15) set up the one end of bracing piece (8) of second walking unit, separation device (15) include:
a fixed clamp (28);
the fixed clamp (28) is movably connected to the connecting disc (29), the connecting disc (29) is fixedly connected with one end of the supporting rod (8) of the second walking unit, and when the fixed clamp (28) is closed, the other end of the steering rod (30) is clamped inside the fixed clamp (28);
one end of bracing piece (8) is provided with main control box (10), main control box (10) inside is provided with supports drive unit, it is connected with support pull rod (14) to support drive unit, the end of support pull rod (14) with movable sleeve (9) are connected, support drive unit is used for the drive support pull rod (14) remove, in order to adjust movable sleeve (9) are in the position on bracing piece (8).
2. A pipeline inspection robot according to claim 1, characterized in that the other end of the support rod (8) is slidably provided with a counterweight device (7);
the main control box (10) is internally provided with a counterweight driving unit, the counterweight driving unit is connected with the counterweight device (7) through a counterweight pull rod (13), and the counterweight driving unit is used for driving the counterweight pull rod (13) to move so as to adjust the position of the counterweight device (7) on the support rod (8).
3. The pipeline inspection robot according to claim 1, wherein an angle adjusting driving unit is arranged inside the driving control box (3), a limit caliper (17) is movably arranged on the side surface of the driving control box (3) facing the main rib (4), and the limit caliper (17) moves under the driving of the angle adjusting driving unit;
the tail end of the limit caliper (17) is rotationally connected with the main rib (4), and when the limit caliper (17) moves under the drive of the angle adjusting driving unit, the included angle between the driving control box (3) and the main rib (4) changes, so that the driving control box (3) is in a state parallel to the inner wall of the pipeline (1).
4. The pipe inspection robot of claim 1, further comprising:
the detection device (5) is arranged on the first walking unit and/or the second walking unit, and the detection unit (5) is used for collecting information in the pipeline (1).
5. The pipeline inspection robot according to claim 1, wherein the support rod (8) is connected with a plurality of main ribs (4), a limiting rope (16) is connected between two adjacent main ribs (4), and the limiting rope (16) is used for limiting the rotation angle of the main ribs (4).
6. A pipeline inspection robot according to claim 1, characterized in that the support bar (8) is provided with a power supply device (11), the power supply device (11) being used for providing power.
7. A control method applied to the pipeline inspection robot according to any one of claims 1 to 6, comprising:
the supporting device is opened to enable the travelling wheel (2) to be in contact with the inner wall of the pipeline (1);
sending a patrol instruction to a pipeline patrol robot, wherein the pipeline patrol robot moves in a pipeline (1) and collects information in the pipeline (1);
and the pipeline inspection robot determines whether to turn according to the acquired information, if so, the steering device (12) is started, and the angle between the first walking unit and the second walking unit is adjusted, so that the pipeline inspection robot smoothly passes through the curve.
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| CN114811258A (en) * | 2022-04-18 | 2022-07-29 | 中交一航局生态工程有限公司 | Supporting device, binding head bundling method and ultraviolet in-situ curing pipeline repairing method |
| CN114542847B (en) * | 2022-04-27 | 2022-08-19 | 国机传感科技有限公司 | Self-creeping detection instrument for long oil and gas pipeline |
| CN115031090B (en) * | 2022-07-07 | 2023-05-23 | 中北大学 | Straight wheel driving type pipeline inspection robot |
| CN116271645B (en) * | 2023-02-20 | 2024-06-18 | 山东龙盾智能技术有限公司 | Fire safety on-line monitoring system |
| CN116293201B (en) * | 2023-04-08 | 2023-10-10 | 南京北控工程检测咨询有限公司 | Pipeline carrier and pipeline robot |
| CN117231852A (en) * | 2023-11-15 | 2023-12-15 | 成都锦城学院 | Pipeline inspection robot |
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Inventor after: Liu Hailong Inventor after: Yan Zihan Inventor after: Sha Linxiu Inventor after: Ma Bo Inventor after: Mao Cuican Inventor before: Yan Zihan Inventor before: Liu Hailong Inventor before: Sha Linxiu Inventor before: Ma Bo Inventor before: Mao Cuican |