CN114658956A

CN114658956A - Pipeline inspection robot

Info

Publication number: CN114658956A
Application number: CN202210225159.8A
Authority: CN
Inventors: 喻九阳; 胡天豪; 张德安; 戴耀南; 夏文凤
Original assignee: Wuhan Jehoo High Technology Co ltd; Wuhan Institute of Technology
Current assignee: Wuhan Jehoo High Technology Co ltd; Wuhan Institute of Technology
Priority date: 2022-03-09
Filing date: 2022-03-09
Publication date: 2022-06-24
Anticipated expiration: 2042-03-09
Also published as: CN114658956B

Abstract

The invention belongs to the field of pipeline robots, and discloses a pipeline inspection robot which comprises a shell, a sliding part and two walking mechanisms, wherein the shell is horizontally arranged in a pipeline along the front-back direction, the two walking mechanisms are connected with the lower ends of two sides of the shell through two adjusting components, the sliding part is connected with the upper end of the shell through a damping supporting part, the adjusting components are used for adjusting the distance between the corresponding walking mechanisms and the shell so as to enable the walking mechanisms to be in contact with the inner wall of the pipeline, the damping supporting part is used for driving the sliding part to tend to move upwards to be in contact with the inner top wall of the pipeline, the two walking mechanisms are used for synchronously driving the shell to move along the front-back direction in the pipeline, so that the pipeline robot can flexibly and actively adjust the distance between the two walking mechanisms and the shell according to the pipe diameter in the pipeline, and meanwhile, the sliding part passively abuts against the inner wall of the pipeline all the time due to the action of the damping supporting part in the pipeline, therefore, the distance between the sliding part and the shell and between the two walking mechanisms can be flexibly adjusted according to the change of the pipe diameter of the pipeline.

Description

Pipeline inspection robot

Technical Field

The invention belongs to the field of pipeline robots, and particularly relates to a pipeline inspection robot.

Background

At present, the trafficability of a pipeline robot in a reducing pipeline is generally poor, and clamping stagnation is easy to occur at the reducing position of the pipeline.

Disclosure of Invention

In order to solve the above technical problems, an object of the present invention is to provide a pipeline inspection robot having a simple structure and excellent performance in passing through a variable diameter pipeline.

In order to achieve the purpose, the technical scheme of the invention is as follows: the utility model provides a pipeline inspection robot, walks capable mechanism including casing, slider and two, the casing sets up in the pipeline along the fore-and-aft direction level, two walk capable mechanism through two adjusting part with the lower extreme of casing both sides is connected, the slider pass through damping support piece with the casing upper end is connected, adjusting part is used for adjusting to correspond walk capable mechanism extremely the interval of casing, so that walk capable mechanism with the inner wall contact of pipeline, damping support piece is used for the drive the slider tends to the rebound as for the interior roof contact of pipeline, two it is used for the synchronous drive to walk capable mechanism the casing removes along the fore-and-aft direction in the pipeline.

The beneficial effects of the above technical scheme are that: so make this pipeline robot can be nimble in the pipeline according to the size initiative adjustment of pipe diameter two walking mechanisms to the interval of casing, the slider offsets with the pipeline inner wall because damping support piece's effect is passive all the time in the pipeline simultaneously to can carry out nimble adjustment slider and two walking mechanisms and the interval from the casing according to the change of pipeline pipe diameter.

In the technical scheme, the walking mechanism is an electric crawler-type walking assembly arranged along the front-back direction.

The beneficial effects of the above technical scheme are that: the structure is simple, and the passing performance is good.

In the above technical solution, the adjusting assembly includes a driving member, a first connecting plate, a wheel carrier, four first connecting rods, four second connecting rods, and two third connecting rods, the four first connecting rods are disposed below the corresponding side of the housing in a square shape along the front-back direction, one end of each first connecting rod is connected to the lower side of the corresponding side of the housing in a swinging manner, the four second connecting rods are in one-to-one correspondence with the four first connecting rods, one end of each second connecting rod is fixedly connected to the other end of the corresponding first connecting rod, the two third connecting rods are disposed at intervals along the front-back direction, two ends of the third connecting rod in the front are connected to the other ends of the two second connecting rods in the front, two ends of the third connecting rod in the rear are connected to the other ends of the two second connecting rods in the rear, the first connecting plate is disposed along the front-back direction, and the two ends of the driving part are respectively and rotatably connected with the two third connecting rods, the walking mechanism is rotatably arranged on the wheel carrier, the two second connecting rods positioned in front are connected through a fourth connecting rod, the driving part is arranged on the shell, the driving end of the driving part is connected with the fourth connecting rod, and the driving part is used for driving the four second connecting rods to move back and forth so as to adjust the distance between the walking mechanism and the shell.

The beneficial effects of the above technical scheme are that: the adjustable walking mechanism is simple in structure, and the distance between the walking mechanism and the shell can be flexibly adjusted through the driving piece.

In the technical scheme, the driving part is a screw rod driving mechanism which is arranged on the shell along the front-back direction, the driving end of the driving part is rotatably provided with a fifth connecting rod, and the other end of the fifth connecting rod is rotatably connected with the fourth connecting rod.

The beneficial effects of the above technical scheme are that: the structure is simple.

In the technical scheme, the sliding part comprises a v-shaped mounting seat and two idler wheels, the mounting seat is arranged along the front and back direction, the bent part of the mounting seat is connected with the shell in a rotating mode, the opening side of the mounting seat deviates from the shell, and the two idler wheels are respectively mounted at two ends of the mounting seat.

The beneficial effects of the above technical scheme are that: therefore, the mounting seat can swing to incline flexibly according to the change of the pipe diameter of the pipeline.

In the above technical solution, the damping support member includes an elastic member, a second connecting plate, four sixth connecting rods, four seventh connecting rods, and two eighth connecting rods, the four sixth connecting rods are disposed below the corresponding side of the housing in a square shape along the front-rear direction, one end of each sixth connecting rod is connected to the corresponding side of the housing in a swinging manner, the four seventh connecting rods correspond to the four sixth connecting rods one by one, one end of each seventh connecting rod is fixedly connected to the other end of the corresponding sixth connecting rod, the two eighth connecting rods are disposed at intervals along the front-rear direction, two ends of the eighth connecting rod located in the front are connected to the other ends of the two seventh connecting rods located in the front, two ends of the eighth connecting rod located in the rear are connected to the other ends of the two seventh connecting rods located in the rear, and the second connecting plate is disposed along the front-rear direction, and its both ends respectively with two the eighth connecting rod rotates to be connected, the mount pad is installed on the second connecting plate, two that are located the place ahead the sixth connecting rod is connected through a ninth connecting rod, be located four on the casing be equipped with the slider between the sixth connecting rod, the slider slides along the fore-and-aft direction, the slider is swung with the one end of tenth connecting rod and is changeed and be connected, the other end of tenth connecting rod with the ninth connecting rod is swung and is changeed and be connected, the elastic component sets up along the fore-and-aft direction, its rear end with the casing is connected fixedly, its front end with the slider is connected.

The beneficial effects of the above technical scheme are that: therefore, the distance between the sliding piece and the shell can be flexibly changed according to the change of the pipe diameter.

In the technical scheme, the elastic piece is a spring.

The beneficial effects of the above technical scheme are that: the structure is simple, and the stability is good.

Drawings

FIG. 1 is a schematic diagram of a pipeline inspection robot according to an embodiment of the present invention;

FIG. 2 is another schematic diagram of a pipeline inspection robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of the regulating assembly according to an embodiment of the present invention;

FIG. 4 is a schematic view of a damping support according to an embodiment of the present invention.

In the figure: the device comprises a shell 1, a sliding part 2, a 21 mounting seat, a 22 roller, a 3 running mechanism, a 4 adjusting component, a 41 driving part, a 42 first connecting plate, a 43 wheel carrier, a 44 first connecting rod, a 45 second connecting rod, a 46 third connecting rod, a 47 fourth connecting rod, a 48 fifth connecting rod, a 5 damping supporting part, a 51 elastic part, a 52 second connecting plate, a 53 sixth connecting rod, a 54 seventh connecting rod, a 55 eighth connecting rod, a 56 ninth connecting rod, a 57 sliding block and a 58 tenth connecting rod.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is more particularly described in the following paragraphs with reference to the accompanying drawings by way of example. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments.

As shown in fig. 1-4, the embodiment provides a pipeline inspection robot, which includes a housing 1, a sliding member 2, and two traveling mechanisms 3, wherein the housing 1 is horizontally disposed in a pipeline along a front-back direction, the two traveling mechanisms 3 are connected to lower ends of two sides of the housing 1 through two adjusting assemblies 4, the sliding member 2 is connected to an upper end of the housing 1 through a damping support member 5, the adjusting assemblies 4 are used to adjust a distance between the corresponding traveling mechanism 3 and the housing 1, so that the traveling mechanisms 3 are in contact with an inner wall of the pipeline, the damping support member 5 is used to drive the sliding member 2 to tend to move upward so as to contact an inner top wall of the pipeline, the two traveling mechanisms 3 are used to synchronously drive the housing 1 to move in the pipeline along the front-back direction, so that the pipeline inspection robot can flexibly and actively adjust a distance between the two traveling mechanisms and the housing according to a pipe diameter of the pipeline, meanwhile, the sliding part is passively abutted against the inner wall of the pipeline all the time in the pipeline under the action of the damping supporting part, so that the distance between the sliding part and the two walking mechanisms from the shell can be flexibly adjusted according to the change of the pipe diameter of the pipeline.

In the above technical solution, the running mechanism 3 is an electric crawler type running assembly arranged in the front-back direction, and has a simple structure and good passing performance, and the concrete running mechanism can refer to a unilateral crawler assembly driven by an in-wheel motor as disclosed in CN103332300B, "a reversible in-wheel motor driven unmanned lunar vehicle and a control method thereof".

In the above technical solution, the adjusting assembly 4 includes a driving member 41, a first connecting plate 42, a wheel carrier 43, four first connecting rods 44, four second connecting rods 45 and two third connecting rods 46, the four first connecting rods 44 are distributed in a square shape in the front-back direction below the corresponding side of the housing 1, one end of each first connecting rod 44 is connected with the lower side of the corresponding side of the housing 1 in a swinging manner, the four second connecting rods 45 are in one-to-one correspondence with the four first connecting rods 44, one end of each second connecting rod 45 is fixedly connected with the other end of the corresponding first connecting rod 44 (the joint of each second connecting rod with the corresponding first connecting rod is an obtuse angle, preferably 135 °, and the obtuse angle is pointed forward or backward), the two third connecting rods 46 are arranged at intervals in the front-back direction, two ends of the third connecting rod 46 in front are connected with the other ends of the two second connecting rods 45 in front, the two ends of the third connecting rod 46 positioned at the rear are connected with the other ends of the two second connecting rods 45 positioned at the rear, the first connecting plate 42 is arranged along the front-back direction, the two ends of the first connecting plate are respectively connected with the two third connecting rods 46 in a rotating manner, the traveling mechanism 3 is rotatably installed on the wheel carrier 43, the two second connecting rods 45 positioned at the front are connected through a fourth connecting rod 47, the driving part 41 is installed on the shell 1, the driving end of the driving part is connected with the fourth connecting rod 47, and the driving part 41 is used for driving the four second connecting rods 45 to move back and forth (the four first connecting rods and the four second connecting rods synchronously move) so as to adjust the distance from the traveling mechanism 3 to the shell 1.

In the above technical solution, the driving part 41 is a screw rod driving mechanism installed on the housing 1 along the front-back direction, a fifth connecting rod 48 is installed at the driving end of the driving part 41 in a rotating manner, and the other end of the fifth connecting rod 48 is connected with the fourth connecting rod 47 in a rotating manner, so that the structure is simple.

In the above technical scheme, the sliding member 2 includes a v-shaped mounting seat 21 and two rollers 22, the mounting seat 21 is arranged along the front-back direction, the bending part of the mounting seat 21 is connected with the shell 1 in a rotating manner, the opening side of the mounting seat 21 deviates from the shell 1, the two rollers 22 are respectively mounted at two ends of the mounting seat 21, and thus the mounting seat can flexibly swing to incline according to the change of the pipe diameter of the pipeline.

In the above technical solution, the damping support 5 includes an elastic member 51, a second connecting plate 52, four sixth connecting rods 53, four seventh connecting rods 54, and two eighth connecting rods 55, the four sixth connecting rods 53 are distributed in a square shape below the corresponding side of the housing 1 along the front-rear direction, one end of each sixth connecting rod 53 is connected to the lower side of the corresponding side of the housing 1 in a front-rear swinging manner, the four seventh connecting rods 54 are in one-to-one correspondence with the four sixth connecting rods 53, one end of each seventh connecting rod 54 is fixedly connected to the other end of the corresponding sixth connecting rod 53, the two eighth connecting rods 55 are arranged at intervals along the front-rear direction, two ends of the eighth connecting rod 55 located in the front are connected to the other ends of the two seventh connecting rods 54 located in the front, two ends of the eighth connecting rod 55 located in the rear are connected to the other ends of the two seventh connecting rods 54 located in the rear, the second connecting plate 52 is arranged along the front-back direction, two ends of the second connecting plate are respectively connected with the two eighth connecting rods 55 in a rotating manner, the mounting seat 21 is mounted on the second connecting plate 52, the two forward sixth connecting rods 53 are connected through a ninth connecting rod 56, a sliding block 57 is arranged between the four sixth connecting rods 53 on the shell 1, the sliding block 57 slides along the front-back direction, the sliding block 57 is connected with one end of a tenth connecting rod 58 in a swinging manner, the other end of the tenth connecting rod 58 is connected with the ninth connecting rod 56 in a swinging manner, the elastic member 51 is arranged along the front-back direction, the rear end of the elastic member is fixedly connected with the shell 1, and the front end of the elastic member is connected with the sliding block 57, so that the distance between the sliding member and the shell can be flexibly changed according to the change of the pipe diameter (when the sliding member is extruded, the sliding member moves to be close to the shell and extrudes the sliding block to drive the four sixth connecting rods and the seventh connecting rods to swing to compress the elastic member, when the extrusion force applied to the sliding part disappears or is reduced, the elastic force of the elastic part drives the sliding block to move to drive the four sixth connecting rods and the seventh connecting rods to swing so that the sliding part moves away from the shell). Each seventh connecting rod and the corresponding sixth connecting rod are fixedly connected, the connection position of the seventh connecting rod and the corresponding sixth connecting rod is an obtuse angle (preferably 135 degrees), and the angle points of the obtuse angles face forwards or backwards.

In the above technical solution, the elastic member 51 is a spring, and has a simple structure and good stability.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A pipeline inspection robot is characterized by comprising a shell (1), a sliding part (2) and two walking mechanisms (3), the shell (1) is horizontally arranged in a pipeline along the front-back direction, the two walking mechanisms (3) are connected with the lower ends of the two sides of the shell (1) through two adjusting components (4), the sliding part (2) is connected with the upper end of the shell (1) through a damping supporting part (5), the adjusting component (4) is used for adjusting the distance between the walking mechanism (3) and the shell (1), so that the running mechanisms (3) are in contact with the inner wall of the pipeline, the damping support piece (5) is used for driving the sliding piece (2) to tend to move upwards to be in contact with the inner top wall of the pipeline, and the two running mechanisms (3) are used for synchronously driving the shell (1) to move in the pipeline along the front-back direction.

2. The pipeline inspection robot according to claim 1, wherein the running mechanism (3) is an electric crawler-type running assembly arranged in the front-rear direction.

3. The pipeline inspection robot according to claim 2, wherein the adjusting assembly (4) comprises a driving member (41), a first connecting plate (42), a wheel carrier (43), four first connecting rods (44), four second connecting rods (45) and two third connecting rods (46), the four first connecting rods (44) are distributed in a square shape along the front-rear direction below the corresponding side of the shell (1), one end of each first connecting rod (44) is connected with the front-rear swinging below the corresponding side of the shell (1), the four second connecting rods (45) correspond to the four first connecting rods (44) one by one, one end of each second connecting rod (45) is fixedly connected with the other end corresponding to the first connecting rod (44), the two third connecting rods (46) are arranged at intervals along the front-rear direction, and two ends of the third connecting rod (46) in front are connected with the other ends of the two second connecting rods (45) in front, the two ends of the third connecting rod (46) located at the rear are connected with the other ends of the second connecting rods (45) located at the rear, the first connecting plate (42) is arranged along the front-back direction, the two ends of the first connecting plate are respectively connected with the two third connecting rods (46) in a rotating mode, the traveling mechanism (3) is rotatably installed on the wheel carrier (43), the two second connecting rods (45) located in the front are connected through a fourth connecting rod (47), the driving piece (41) is installed on the shell (1), the driving end of the driving piece is connected with the fourth connecting rod (47), and the driving piece (41) is used for driving the four second connecting rods (45) to move back and forth so as to adjust the distance between the traveling mechanism (3) and the shell (1).

4. The pipeline inspection robot according to claim 3, wherein the driving piece (41) is a screw rod driving mechanism which is installed on the shell (1) in the front-back direction, a fifth connecting rod (48) is installed at the driving end of the driving piece (41) in a rotating mode, and the other end of the fifth connecting rod (48) is connected with the fourth connecting rod (47) in a rotating mode.

5. The pipeline inspection robot according to any one of claims 1-4, wherein the sliding member (2) comprises a v-shaped mounting seat (21) and two rollers (22), the mounting seat (21) is arranged in the front-back direction, the bent part of the mounting seat is rotatably connected with the shell (1), the opening side of the mounting seat (21) deviates from the shell (1), and the two rollers (22) are respectively mounted at two ends of the mounting seat (21).

6. The pipeline inspection robot according to claim 5, wherein the damping support member (5) comprises an elastic member (51), a second connecting plate (52), four sixth connecting rods (53), four seventh connecting rods (54) and two eighth connecting rods (55), the four sixth connecting rods (53) are distributed in a square shape along the front-rear direction below the corresponding side of the housing (1), one end of each sixth connecting rod (53) is connected with the front-rear swinging below the corresponding side of the housing (1), the four seventh connecting rods (54) are in one-to-one correspondence with the four sixth connecting rods (53), one end of each seventh connecting rod (54) is fixedly connected with the other end corresponding to the sixth connecting rod (53), the two eighth connecting rods (55) are arranged at intervals along the front-rear direction, and two ends of the eighth connecting rod (55) positioned in front are connected with the other ends of the two seventh connecting rods (54) positioned in front, the two ends of the eighth connecting rod (55) at the rear are connected with the other ends of the seventh connecting rods (54) at the rear, the second connecting plate (52) is arranged along the front-rear direction, the two ends of the second connecting plate are respectively connected with the two eighth connecting rods (55) in a rotating manner, the mounting seat (21) is mounted on the second connecting plate (52), the two sixth connecting rods (53) at the front are connected through a ninth connecting rod (56), a sliding block (57) is arranged between the four sixth connecting rods (53) on the shell (1), the sliding block (57) slides along the front-rear direction, the sliding block (57) is connected with one end of a tenth connecting rod (58) in a swinging manner, the other end of the tenth connecting rod (58) is connected with the ninth connecting rod (56) in a swinging manner, the elastic piece (51) is arranged along the front-rear direction, and the rear end of the elastic piece is fixedly connected with the shell (1), the front end of the slide block is connected with the slide block (57).

7. The pipeline inspection robot according to claim 6, wherein the elastic member (51) is a spring.