Lumbar traction mechanism of a pipeline robot

Abstract

The present invention discloses a lumbar traction mechanism of a pipeline robot, comprising a left shell and a right shell that can rotate relative to the left shell, the left shell and the right shell being plugged together to form a closed space, the plugged-in portion of the left shell and the right shell being spherically matched so that the left shell and the right shell can rotate relative to each other, and further comprising a first sealing ring for preventing fluid from entering the closed space, the first sealing ring being located at the plug-in portion of the left shell and the right shell, and further comprising a traction rod for limiting the separation of the left shell and the right shell, the two ends of the traction rod respectively being matched with the corresponding shells to form a universal joint structure, turning being achieved by matching two spherical surfaces, and a sealing structure being set between the two spherical surfaces to prevent fluid from entering the interior of the lumbar traction mechanism, and its stability is better.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a lumbar traction mechanism of a pipeline robot. Background Art

[0002] With the development of the oil and gas industry, oil and gas pipelines have gradually become one of the important modes of transportation.

[0003] Due to defects in the pipeline's own materials or corrosion, heavy pressure, external force impact, etc. caused by long-term service, the inner wall of the pipeline will have varying degrees of scaling, resulting in reduced pipeline efficiency, and inevitable aging, cracks, leaks and other phenomena that pose safety hazards.

[0004] Oil and gas pipelines transport flammable and explosive media. A failure can easily lead to major safety incidents, resulting in significant losses and potentially severe consequences for the local ecological environment. Therefore, regular inspection and maintenance of pipeline conditions are essential. However, pipelines are often located in confined environments that are difficult or impossible for personnel to access directly. Traditionally, excavation and sampling methods have been the most common approaches. These manual excavation methods suffer from significant engineering effort, high randomness, and low efficiency.

[0005] A pipeline robot is an integrated mechanical, electrical, and instrumentation system that can autonomously travel along the interior or exterior of a pipeline. It can carry one or more sensors and operating devices, such as ultrasonic sensors, eddy current sensors, and pipeline cleaning devices. Under remote operator control, it can perform a range of pipeline inspection and maintenance operations. Replacing manual inspection with pipeline robots significantly improves inspection precision and accuracy, significantly contributing to improved working conditions, reduced operating costs, and increased efficiency.

[0006] Currently, pipeline robots can be divided into seven categories based on their mechanical structure: fluid-driven, wheeled, tracked, supported, walking, and screw-driven. The robot's operating speed and cornering ability are directly related to operational effectiveness. However, when operating in a fluid medium, the lumbar traction portion bends relatively, making it easy for the fluid to enter the lumbar traction mechanism, resulting in poor stability and unrecognizable rotational direction. Summary of the Invention

[0007] Purpose of the present invention: In order to overcome the defects of the prior art, the present invention provides a lumbar traction mechanism for a pipeline robot, which realizes turning by cooperating between two spherical surfaces, and sets a sealing structure between the two spherical surfaces to prevent fluid from entering the interior of the lumbar traction mechanism, and has better stability.

[0008] The present invention discloses a lumbar traction mechanism for a pipeline robot, which is characterized in that it includes a left shell and a right shell that can rotate relative to the left shell, the left shell and the right shell are plugged together to form a closed space, the plugged-in part of the left shell and the right shell is spherically matched so that the left shell and the right shell can rotate relative to each other, and also includes a first sealing ring for blocking fluid from entering the closed space, the first sealing ring is located at the plug-in part of the left shell and the right shell, and also includes a traction rod for limiting the separation of the left shell and the right shell, and the two ends of the traction rod are respectively matched with the corresponding shells to form a universal joint structure.

[0009] By adopting the above technical solution, when the pipeline robot is walking, the left shell and the right shell can rotate relative to each other through the spherical fit, thereby adapting to the turning of the pipeline. The traction rod can prevent the left shell and the right shell from separating when resetting. When the left shell and the right shell rotate, the traction rod will not hinder the rotation of the two through the universal joint structure, and its stability is better. The first sealing ring is used to seal the joint of the left shell and the right shell to further prevent the fluid medium from entering the confined space.

[0010] The present invention is further configured as follows: the left shell is provided with a first spherical groove, the traction rod is provided with a first spherical surface that cooperates with the first spherical groove, the right shell is provided with a second spherical groove, the traction rod is provided with a second spherical surface that cooperates with the second spherical groove, the first spherical surface rotates in the first spherical groove, and the second spherical surface rotates in the second spherical groove to form a universal joint structure.

[0011] By adopting the above technical solution, a universal joint structure can be formed by cooperating the spherical surface on the corresponding rod body with the spherical groove, which has a simple structure and is relatively stable.

[0012] The present invention is further configured as follows: the traction rod includes a left rod body and a right rod body that are separately arranged, the left rod body portion extends into the confined space, the right rod body portion extends into the confined space, and also includes a connecting piece for connecting the left rod body and the right rod body in the confined space.

[0013] By adopting the above technical solution, the left and right rod bodies are arranged in a split manner, which makes it more convenient to assemble them. One end of the two rod bodies can pass through the corresponding shell into the enclosed space, and then be connected by a connector to prevent the two from separating.

[0014] The present invention is further configured as follows: a sealing ring installation groove for assembling a first sealing ring is provided at a position of the right shell corresponding to the left shell, at least two sealing ring installation grooves are provided at intervals along the axial direction, and a first sealing ring is provided on each sealing ring installation groove.

[0015] By adopting the above technical solution, since the turning angles inside the pipe are different, the rotation amplitudes of the left and right shells are different. By setting multiple sealing rings, the sealing effect can be further improved. By setting a sealing ring installation groove, the installation of the sealing ring can be facilitated and the stability is better.

[0016] The present invention is further configured as follows: one side of the first spherical groove is open for the left rod body to be installed therein, a second sealing ring is provided between the first spherical groove and the first spherical surface, one side of the second spherical groove is open for the right rod body to be installed therein, and a third sealing ring is provided between the second spherical groove and the second spherical surface.

[0017] With the above technical solution, the corresponding spherical groove is opened on one side to facilitate the assembly of the corresponding rod body, and is sealed by the sealing ring to further prevent the fluid from entering the enclosed space.

[0018] The present invention is further provided with a scraper blade on the inner first sealing ring, which is tilted outward and abuts against the left housing.

[0019] The above technical solution can further prevent fluid from entering the confined space.

[0020] The present invention is further provided with: the connecting member is an elastic clamp, and both the left rod body and the right rod body are provided with abutment platforms, and the elastic clamp is arranged along the circumferential direction of the abutment platforms.

[0021] By adopting the above technical solution and using elastic clamps for connection, no auxiliary tools are needed during assembly and disassembly, which makes assembly and disassembly more convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the structure of the present invention after the left housing is removed;

[0024] Figure 3 for Figure 1 Sectional view;

[0025] Figure 4 for Figure 3 Enlarged view of part a;

[0026] Figure 5 for Figure 3 Part b enlarged view;

[0027] Figure 6 for Figure 3 Enlarged view of local c;

[0028] Figure 7 for Figure 3 Enlarged view of the local area d.

[0029] Left shell 1, right shell 2, sealing ring mounting groove 21, enclosed space 3, first sealing ring 5, scraper 51, traction rod 6, left rod body 61, first spherical surface 611, right rod body 62, second spherical surface 621, first spherical groove 8, second spherical groove 9, connecting part 10, second sealing ring 70, third sealing ring 80. DETAILED DESCRIPTION

[0030] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings:

[0031] In the description of the present invention, it should be understood that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention.

[0032] The present invention discloses a lumbar traction mechanism for a pipeline robot. In an embodiment of the present invention, the mechanism includes a left shell 1 and a right shell 2 that can rotate relative to the left shell 1. The left shell 1 and the right shell 2 are plugged together to form a closed space 3. The plugged-in part of the left shell 1 and the right shell 2 is a spherical fit (the spherical fit can be achieved by the socket fit of an inner ball sleeve and an outer ball sleeve), so that the left shell 1 and the right shell 2 can rotate relative to each other. The mechanism also includes a first sealing ring 5 for blocking fluid from entering the closed space 3. The first sealing ring 5 is located at the plug-in part of the left shell 1 and the right shell 2. The mechanism also includes a traction rod 6 for limiting the separation of the left shell and the right shell. The two ends of the traction rod 6 are respectively matched with the corresponding shells to form a universal joint structure.

[0033] The above technical solution is adopted and assembled on a pipeline robot when in use. When the pipeline robot moves, the left shell 1 and the right shell 2 can rotate relative to each other through spherical fit, thereby adapting to the turning of the pipeline. The traction rod 6 can prevent the left shell 1 and the right shell 2 from separating when resetting. When the left shell 1 and the right shell 2 rotate, the traction rod 6 will not hinder the rotation of the two through the universal joint structure, and its stability is better. The first sealing ring 5 is used to seal the joint of the left shell 1 and the right shell 2 to further prevent the fluid medium from entering the confined space 3.

[0034] The traction rod 6 includes a left rod body 61 and a right rod body 62 arranged in a split manner. The left shell body 1 is provided with a first spherical groove 8. The left rod body 61 is partially located in the first spherical groove 8 and partially extends into the confined space 3. The left rod body 61 located in the first spherical groove 8 is provided with a first spherical surface 611 that cooperates with the first spherical groove 8. The right shell body 2 is provided with a second spherical groove 9. The right rod body 62 is partially located in the second spherical groove 9 and partially extends into the confined space 3. The right rod body 62 located on the second spherical groove 9 is provided with a second spherical surface 621 that cooperates with the second spherical groove 9. It also includes a connecting member 10 for connecting the left rod body and the right rod body in the confined space 3 (the connecting member 10 is most preferably an elastic clamp to tighten the two, of course, it can also be connected by bolts, pins, etc.), the first spherical surface 611 rotates in the first spherical groove 8, and the second spherical surface 621 rotates in the second spherical groove 9 to form a universal joint. The structure adopts a split left rod body 61 and right rod body 62, which can make it more convenient to assemble. One end of the two can pass through the corresponding shell body into the confined space 3, and then be connected by the connecting piece 10 to prevent the two from separating. The spherical surface on the corresponding rod body cooperates with the spherical groove to form a universal joint structure. Of course, the left shell body 1 and the right shell body 2 can also be provided with an assembly rack. The left rod body 61 and the right rod body 62 can be assembled to the corresponding assembly rack first, and then form a whole. The assembly rack is then assembled to the corresponding shell body for easy installation. Of course, the traction rod 6 can also be the left rod body 61 extending through the left shell body 1 to the right shell body 2, and then the right rod body 62 is connected to the left rod body 61 with a ball head or a hemisphere, or the right rod body 62 extends through the right shell body 2 to the left shell body 1, and the left rod body 61 is connected to the right rod body 62 with a ball head or a hemisphere.

[0035] The right shell 2 is provided with a sealing ring installation groove 21 for assembling the first sealing ring 5 at a position corresponding to the left shell 1. At least two sealing ring installation grooves 21 are provided at intervals along the axial direction. The first sealing ring 5 is provided on each sealing ring installation groove 21. Because the turning angles inside the pipeline are different, the rotation amplitudes of the left and right shells are different. By providing multiple sealing rings, the sealing effect can be further improved. By providing the sealing ring installation grooves 21, the installation of the sealing ring can be facilitated and the stability is better.

[0036] One side of the first spherical groove 8 is open for the left rod body 61 to be installed, and a second sealing ring 70 is provided between the first spherical groove 8 and the first spherical surface 611. One side of the second spherical groove 9 is open for the right rod body 62 to be installed, and a third sealing ring 80 is provided between the second spherical groove 9 and the second spherical surface 621. The corresponding spherical groove has an open side to facilitate the assembly of the corresponding rod body, and is sealed by the sealing ring to further prevent the fluid from entering the confined space 3.

[0037] A scraper 51 is provided on the first sealing ring 5 located on the inner side. The scraper 51 is tilted outward and abuts against the left shell 1, which can further prevent the fluid from entering the enclosed space. The left shell 1 is most preferably made of two half shells formed into one by an elastic clamp for easy assembly.

[0038] The connecting member 10 is an elastic clamp, and an abutment platform 20 is provided on the left rod body 61 and the right rod body 62. The elastic clamp is arranged along the circumferential direction of the abutment platform 20. The elastic clamp is used for connection, and no auxiliary tools are required during disassembly and assembly, which is more convenient.

Claims

1. A lumbar traction mechanism for a pipeline robot, characterized by: The invention comprises a left shell (1) and a right shell (2) which can rotate relative to the left shell (1), wherein the left shell (1) and the right shell (2) are plugged together to form a closed space (3), wherein the plugged portion of the left shell (1) and the right shell (2) is spherically matched so that the left shell (1) and the right shell (2) can rotate relative to each other, and further comprises a first sealing ring (5) for preventing fluid from entering the closed space (3), wherein the first sealing ring (5) is located at the plugging portion of the left shell (1) and the right shell (2), and further comprises a traction rod (6) for limiting the separation of the left shell (1) and the right shell (2), wherein both ends of the traction rod (6) respectively cooperate with the corresponding shells to form a closed space (3). A universal joint structure is provided, wherein the left housing (1) is provided with a first spherical groove (8), the traction rod (6) is provided with a first spherical surface (611) that cooperates with the first spherical groove (8), the right housing (2) is provided with a second spherical groove (9), the traction rod (6) is provided with a second spherical surface (621) that cooperates with the second spherical groove (9), the first spherical surface (611) rotates in the first spherical groove (8), and the second spherical surface (621) rotates in the second spherical groove (9) to form a universal joint structure, a second sealing ring (70) is provided between the first spherical groove (8) and the first spherical surface (611), and a third sealing ring (80) is provided between the second spherical groove (9) and the second spherical surface (621).

2. The lumbar traction mechanism of the pipeline robot according to claim 1, characterized in that: The traction rod (6) includes a left rod body (61) and a right rod body (62) that are arranged in a split manner, wherein the left rod body (61) partially extends into the enclosed space (3), and the right rod body (62) partially extends into the enclosed space (3), and further includes a connecting piece (10) for connecting the left rod body (61) and the right rod body (62) in the enclosed space (3).

3. The lumbar traction mechanism of a pipeline robot according to claim 1 or 2, characterized in that: The right housing (2) is provided with a sealing ring installation groove for assembling the first sealing ring (5) at a position corresponding to the left housing (1), and at least two sealing ring installation grooves are provided at intervals along the axial direction, and each sealing ring installation groove is provided with a first sealing ring (5).

4. The lumbar traction mechanism of the pipeline robot according to claim 2, characterized in that: One side of the first spherical groove (8) is opened for the left rod body (61) to be installed therein, and one side of the second spherical groove (9) is opened for the right rod body (62) to be installed therein.

5. The lumbar traction mechanism of the pipeline robot according to claim 3, characterized in that: A scraper (51) is provided on the first sealing ring (5) located on the inner side. The scraper (51) is arranged obliquely outward and abuts against the left housing (1).

6. The lumbar traction mechanism of the pipeline robot according to claim 2, characterized in that: The connecting member (10) is an elastic clamp, and both the left rod body (61) and the right rod body (62) are provided with abutment platforms, and the elastic clamp is arranged along the circumferential direction of the abutment platforms.

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