A pipeline inspection device based on tetrahedral wheel train

Abstract

The application discloses a pipeline detection device based on a tetrahedron type wheel system, which mainly comprises three parts of a supporting mechanism, a variable-diameter mechanism and a motion mechanism. The supporting mechanism is composed of a supporting rod and a plate and is used for fixing and connecting other mechanisms. The variable-diameter mechanism can drive four wheels to change positions and then change the diameter of a pipeline determined by the mechanism. The motion mechanism is composed of two driving wheels, two driven wheels and related driving and supporting components. Through the operation of the variable-diameter mechanism and the cooperation of different working states of the device, the device can adapt to the working conditions of different pipeline diameters to meet the operation requirements of pipeline detection. The problems of complex structure and control of the pipeline detection equipment are solved, the manufacturing cost is reduced, and the redundant constraint problem caused by too many wheel sets is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection device, and particularly relates to a pipeline detection device based on tetrahedron type wheel system. BACKGROUND

[0002] The pipeline plays a huge role in industry, infrastructure construction and the like, however, the detection of its crack, deformation and other performance indicators is not easy. At present, different forms of pipeline detection robots have appeared, which work on pipelines under different working conditions. The types include four-wheel type, three-track type, multi-foot type and the like, and the structure and control system are relatively complex, and the volume and weight are difficult to simplify. Under the condition that the pipeline carrying capacity is small, the electromagnetic environment is complex and the like, such equipment cannot well complete the expected task. In addition, the design of multiple wheel systems may cause redundant constraints of the equipment, and a part of the wheels may not play a driving or supporting role, causing resource waste.

[0003] In view of the above problems, a pipeline detection device with simple structure, convenient control and light volume is designed. For the pipeline section in a two-dimensional scene, only three points are needed to determine the radius; and for the pipeline in a three-dimensional scene, an additional point is needed along the extension direction of the pipeline, so that the tetrahedron type wheel system distribution mode is determined. SUMMARY

[0004] The present application aims at the defects of the prior art, and provides a pipeline detection device based on tetrahedron type wheel system, which solves the problems of complex structure and control of the pipeline detection device, reduces the manufacturing cost, and solves the redundant constraint problem caused by too many wheel groups.

[0005] To solve the above technical problems, the technical scheme of the present application is as follows:

[0006] A pipeline detection device based on tetrahedron type wheel system, characterized in that: it comprises a support mechanism, a variable diameter mechanism and a motion mechanism; the support mechanism is used for fixing and connecting the variable diameter mechanism and the motion mechanism, and comprises an optical axis and end support plates fixedly connected at both ends of the optical axis; the variable diameter mechanism is used for changing the relative position of the motion mechanism and further changing the diameter of the pipeline determined by the device, and comprises a sliding plate, a pull rod, a wheel support rod, a lead screw, a variable diameter driving motor, the sliding plate is slidingly connected to the optical axis, one end of the wheel support rod is hingedly connected to the sliding plate, one end of the pull rod is hingedly connected to the end support plate, the other end of the pull rod is hingedly connected to the wheel support rod, the lead screw is arranged between the end support plates at both ends and is threadedly connected with the sliding plate, and the variable diameter driving motor is drivingly connected with the lead screw; the motion mechanism is used for driving the whole device to move in the pipeline, and comprises a driving wheel device and a driven wheel device, and the driving wheel device and the driven wheel device are separately arranged on the wheel support rods at both ends of the device.

[0007] Further, the support mechanism further comprises a motor support plate, the motor support plate is fixedly connected at the middle part of the optical shaft, and the variable-diameter driving motor is fixedly connected on the motor support plate.

[0008] Further, the end support plate and the motor support plate are fixedly connected on the optical shaft through the optical shaft fixing ring.

[0009] Further, the optical shaft is provided with four optical shafts, and the four optical shafts are centrally symmetrically distributed.

[0010] Further, the sliding plate is threadedly connected on the lead screw through a lead screw nut and connected on the optical shaft through a linear bearing.

[0011] Further, the wheel support rods located at the same end of the lead screw are symmetrically arranged about the lead screw and distributed in the same plane, and the arrangement planes of the wheel support rods located at two ends of the lead screw are perpendicular to each other, so that the wheel system on the movement mechanism is in a tetrahedral distribution.

[0012] Further, the driving wheel device comprises a driving wheel, a first bearing mounting plate and a wheel driving motor, the driving wheel is connected on the wheel support rod through the first bearing mounting plate, and the wheel driving motor is fixedly connected on the wheel support rod and drivingly connected with the driving wheel.

[0013] Further, coaxial synchronous pulleys are arranged on the motor shafts of the driving wheel and the wheel driving motor, the wheel driving motor drives the synchronous pulleys through a synchronous belt, so as to drive the driving wheel to rotate.

[0014] Further, the driven wheel device comprises a driven wheel and a second bearing mounting plate, and the driven wheel is connected on the wheel support rod through the second bearing mounting plate.

[0015] Further, the device further comprises a power module, the power module comprises a single-chip microcomputer, a power supply module and a remote control module, the power supply module provides power for the device, the single-chip microcomputer realizes start-stop, steering and speed control of the variable-diameter driving motor and the wheel driving motor, the remote control module is used for receiving remote control instructions and realizing remote control of the device, and through the ultrasonic injury detection equipment, various working tasks of the device in the pipeline are realized.

[0016] Compared with the prior art, the device has the following beneficial effects:

[0017] 1. The number of wheels is minimized, four wheels are arranged in a tetrahedral distribution, the constraint of the device in the pipeline is minimized, the generation of redundant constraints is prevented, and the stability of the device is ensured.

[0018] 2. Simplified the principle of variable diameter. By controlling the movement of the two sliding plates with a double-output shaft motor, and then controlling the opening angle of the four wheels through the crank slider mechanism, the diameter of the determined circular pipe is changed, which is suitable for circular pipes of different diameters.

[0019] 3. Realize the variable diameter range of multiple levels. By adjusting the orientation of the driven wheel, the device can enter different working states to adapt to more extensive variable diameter requirements. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 Structure diagram of an embodiment of the present application Figure 1 ;

[0021] Figure 2 Structure diagram of an embodiment of the present application Figure 2 ;

[0022] Figure 3 Front view of an embodiment of the present application

[0023] Figure 4 Schematic diagram of the working state of an embodiment of the present application

[0024] Figure 5 Schematic diagram of the working state of an embodiment of the present application

[0025] Wherein: 1 - support mechanism, 2 - variable diameter mechanism, 3 - driving wheel device, 4 - driven wheel device, 11 - end support plate, 12 - motor support plate, 13 - optical axis, 21 - sliding plate, 22 - pull rod, 23 - wheel support rod, 24 - aluminum square tube hinge, 25 - lead screw, 26 - variable diameter drive motor, 27 - lead screw nut, 28 - linear bearing, 31 - driving wheel shaft, 32 - driving wheel, 33 - wheel drive motor, 34 - first bearing mounting plate, 35 - first bearing cover plate, 36 - synchronous pulley, 41 - driven wheel shaft, 42 - driven wheel, 43 - second bearing mounting plate, 44 - second bearing cover plate, 51 - single-chip microcomputer. DETAILED DESCRIPTION

[0026] In order to deepen the understanding of the present application, the following will be further described in combination with the drawings, which embodiment is only used to explain the present application and does not constitute a limitation on the protection scope of the present application.

[0027] Figures 1-3 A specific embodiment of a pipe detection device based on a tetrahedral wheel train is shown, which includes a support mechanism 1 for fixing and connecting other mechanisms; a variable diameter mechanism 2 for changing the relative position of the wheels and further changing the diameter of the pipe determined by the device; a movement mechanism 3 for driving the device to move in the pipe; and a power module for providing kinetic energy to each component and realizing motion control.

[0028] The support mechanism 1 comprises a terminal support plate 11, a motor support plate 12, an optical axis 13 and accessories such as an optical axis fixing ring for connection. The terminal support plate 11 is fixedly connected to the two ends of the four centrally symmetrically distributed optical axes 13 and is fixed by using the optical axis fixing ring, thereby constituting the main part of the support mechanism 1; the motor support plate 12 penetrates the optical axis 13 and is installed at the two ends of the variable-diameter driving motor 26 and is fixed by using the optical axis fixing ring. The variable-diameter driving motor 26 is installed at the center of the support mechanism 1.

[0029] The variable-diameter mechanism 2 comprises a sliding plate 21, a pull rod 22, a wheel support rod 23, an aluminum square tube hinge 24, a lead screw 25, a variable-diameter driving motor 26 and accessories such as a linear bearing and a lead screw nut for fixing the optical axis and the lead screw. The sliding plate 21 is installed on the two sides of the variable-diameter driving motor 26 and is connected to the lead screw 25 and the optical axis 13 through the lead screw nut 27 and the linear bearing 28 respectively, thereby realizing the axial movement under the driving of the variable-diameter driving motor 26. The variable-diameter driving motor 26 has shafts on both sides and connects the lead screws 25 with opposite tooth shapes on both sides through a shaft coupling, so that the movements of the two sliding plates 21 are opposite. The wheel support rod 23 is hingedly connected to the sliding plate 21 at one end through the aluminum square tube hinge 24 and is hingedly connected to the terminal support plate 11 at the other end through the pull rod 22, thereby forming a crank slider mechanism. The wheel support rods 23 are symmetrically arranged about the lead screw 25 and are distributed in the same plane. The planes in which the wheel support rods 23 on both sides of the variable-diameter driving motor 26 are arranged are perpendicular to each other, thereby making the wheel train of the device in a tetrahedral distribution. When the position of the sliding plate 21 changes, the opening angle of the wheel support rod 23 changes, and in turn the radius of the pipe determined by the device changes.

[0030] The movement mechanism comprises two parts of a driving wheel device and a driven wheel device. The driving wheel device 3 is composed of a driving wheel shaft 31, a driving wheel 32, a wheel driving motor 33, a first bearing mounting plate 34, a first bearing cover plate 35 and a synchronous belt wheel 36 and a synchronous belt. The driving wheel 32 is installed on the two wheel support rods 23 through the driving wheel shaft 31, a bearing and the first bearing mounting plate 34, and the first bearing cover plate 35 limits the wheel train on the outside. For the driving wheel device 3, the wheel driving motor 33 is installed on the wheel support rod 23 through a specially made motor base, a synchronous belt wheel 36 is installed on the motor shaft and the driving wheel shaft 31, and power transmission is realized through the synchronous belt, thereby finally realizing the movement of the device in the pipe.

[0031] The driven wheel device is composed of a driven wheel shaft 41, a driven wheel 42, a second bearing mounting plate 43 and a second bearing cover plate 44. The driven wheel 42 is installed on the two wheel support rods 23 through the driven wheel shaft 41, a bearing and the second bearing mounting plate 43, and the second bearing cover plate 35 limits the wheel train on the outside.

[0032] The power module comprises a single-chip microcomputer 51, a power supply module, and a remote control module, wherein the power supply module provides power for all the above-mentioned devices; the single-chip microcomputer 41 realizes the start-stop, steering, and speed control of the variable-diameter driving motor 26 and the wheel driving motor 33; and the remote control module is used for receiving remote control instructions to realize remote control of the device.

[0033] In addition, changing the orientation of the driven wheel can adapt the device to two working states:

[0034] Figure 4 The working state one is shown: the axis of the screw rod 25 and the axis of the pipeline are collinear. At this time, the intersection of the extension lines of the wheel support rods 23 connecting the driving wheel 32 and the driven wheel 42 is not in the same pipeline section. In this state, the distance between the two wheels is the diameter of the determined pipeline. This working state is suitable for use when the pipeline diameter is small.

[0035] Figure 5 The working state two is shown: the axis of the screw rod 25 is in the pipeline section, and the axis of the pipeline is placed vertically. At this time, the intersection of the extension lines of the wheel support rods 23 connecting the driving wheel 32 and the driven wheel 42 is in the same pipeline section. In this state, the distance from the wheel to the center of the device is the radius of the determined pipeline. This working state is suitable for use when the pipeline diameter is large.

[0036] The specific operation mode of the device is as follows: after the device is powered on, the device is placed in the pipeline, and the variable-diameter button of the remote controller is pressed. When the device fits the pipeline diameter, the variable-diameter is stopped, and the movement of the device in the pipeline is controlled, and at the same time, the ultrasonic flaw detection device installed in the device is used to detect the pipeline fault.

[0037] When it is necessary to change the working state, the orientation of the driven wheel needs to be changed, that is, the driven wheel 42 is rotated 90° with the extension direction of the wheel support rod 23 as the axis. After changing the orientation of the driven wheel 42, the placement mode of the device also needs to be adjusted.

[0038] The above specific embodiments are only for illustrating the technical concept and structural features of the present application, and the purpose is to enable the relevant persons skilled in the art to implement it, but the above content does not limit the protection scope of the present application, and any equivalent changes or modifications made according to the spirit and essence of the present application shall fall within the protection scope of the present application.

Claims

1. A pipeline inspection device based on a tetrahedral wheel train, characterized by: The utility model provides a kind of pipe diameter changing device, including support mechanism (1), variable diameter mechanism (2), movement mechanism;The support mechanism (1) is used to fix and connect variable diameter mechanism (2) and movement mechanism, including optical axis (13) and fixedly connected in optical axis (13) both ends end support plate (11);The variable diameter mechanism (2) is used to change the relative position of movement mechanism and further change the pipe diameter determined by device, including sliding plate (21), pull rod (22), wheel support rod (23), lead screw (25), variable diameter drive motor (26), the sliding plate (21) is slidably connected on the optical axis (13), one end of the wheel support rod (23) is hinged in sliding plate (21), one end of the pull rod (22) is hinged in the end support plate (11), another end is hinged in wheel support rod (23), the lead screw (25) is arranged between both ends end support plate (11) and is threadedly connected with sliding plate (21), the variable diameter drive motor (26) is driven and is connected lead screw (25);The movement mechanism is used to drive the whole device to move in pipe, including driving wheel device (3) and driven wheel device (4), the driving wheel device (3) and driven wheel device (4) are separately arranged in wheel support rod (23) on both ends of device; The driving wheel device (3) includes driving wheel (32), first bearing mounting plate (34), wheel drive motor (33), the driving wheel (32) is connected on the wheel support rod (23) by the first bearing mounting plate (34), the wheel drive motor (33) is fixedly connected on wheel support rod (23) and is drivenly connected with driving wheel (32); The driven wheel device (4) includes driven wheel (42), second bearing mounting plate (43), the driven wheel (42) is connected on the wheel support rod (23) by the second bearing mounting plate (43); When needing to change working state, the orientation of driven wheel (42) needs to be changed, i.e. driven wheel (42) is rotated 90 ° with the extension direction of wheel support rod (23) as the shaft, the orientation of driven wheel (42) is replaced, and at the same time, the placement mode of device needs to be adjusted.

2. The pipeline inspection device based on tetrahedron type wheel train according to claim 1, characterized in that: The support mechanism (1) further includes motor support plate (12), the motor support plate (12) is fixedly connected in the middle of the optical axis (13), and the variable diameter drive motor (26) is fixedly connected on the motor support plate (12).

3. The pipeline inspection device based on tetrahedron type wheel train according to claim 2, characterized in that: The end support plate (11) and the motor support plate (12) are fixedly connected on the optical axis (13) by the optical axis fixing ring.

4. The pipeline inspection device based on tetrahedron type wheel train according to claim 1, characterized in that: The optical axis (13) is provided with four, and is centrally symmetrically distributed.

5. The pipeline inspection device based on tetrahedron type wheel train according to claim 1, characterized in that: The sliding plate (21) is threadedly connected on the lead screw (25) by lead screw nut (27) and is connected on the optical axis (13) by linear bearing (28).

6. The pipeline inspection device based on tetrahedron type wheel train according to claim 1, characterized in that: The wheel support rods (23) located at the same end of the lead screw (25) are symmetrically arranged about the lead screw (25) and are distributed in the same plane, and the arrangement planes of the wheel support rods (23) located at both ends of the lead screw (25) are perpendicular to each other, so that the wheel system on the movement mechanism is tetrahedron type distribution.

7. The device for inspection of pipelines based on tetrahedron-type wheel train according to claim 1, characterized by the fact that: The motor shaft of the driving wheel (32) and the wheel driving motor (33) is coaxially provided with a synchronous pulley (36), the wheel driving motor (33) is connected with the synchronous pulley (36) through a synchronous belt, thereby driving the driving wheel (32) to rotate.

8. The device for inspection of pipelines based on tetrahedron-type wheel train according to claim 1, characterized by the fact that: Further comprising a power module, the power module comprises a single-chip microcomputer (51), a power supply module, a remote control module, the power supply module provides power for the device; the single-chip microcomputer (51) realizes the start-stop, steering and speed control of the variable-diameter driving motor (26) and the wheel driving motor (33); the remote control module is used for receiving remote control instructions, realizing remote control of the device, through the ultrasonic injury detection equipment, realizing various working tasks of the device in the pipeline.

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