A pipeline robot turning recognition and direction keeping mechanism

Abstract

The present invention discloses a pipeline robot turning recognition and direction maintaining mechanism, comprising a left shell, a right shell and a sensor, wherein the plug-in portion 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 further comprising a first sealing ring for blocking fluid from entering a confined 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 cooperating with corresponding shells to form a universal joint structure, and further comprising an elastic reset member for driving the left shell and the right shell to reset after relative rotation, and achieving turning by cooperating between two spherical surfaces, and setting a sealing structure between the two spherical surfaces to prevent fluid from entering the interior of the lumbar traction mechanism, and having better stability, and the sensor can feedback data of the corresponding turn of the robot, thereby facilitating the operator to further understand the position and direction of the bend inside the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a pipeline robot turning recognition and direction maintaining mechanism. 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 operational stability, cornering ability, and obstacle-crossing capabilities are directly related to operational effectiveness. However, when operating in a fluid medium, the lumbar traction portion of the robot bends, 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 invention: In order to overcome the defects of the prior art, the present invention provides a pipeline robot turning recognition and direction maintaining mechanism, which realizes turning by cooperating 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. It has better stability, and the sensor can feedback the robot's corresponding turning data, so that the operator can further understand the position and direction of the bend inside the pipeline.

[0008] The present invention discloses a pipeline robot turn recognition and direction maintaining mechanism, 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, at least one of the left shell and the right shell is provided with a sensor for detecting turns, the sensor is located in the closed space, the plug-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, the two ends of the traction rod are respectively matched with the corresponding shells to form a universal joint structure, and also includes an elastic reset part that drives the left shell and the right shell to reset after the left shell and the right shell rotate relative to each other.

[0009] By adopting the above technical solution, when the pipeline robot walks, the left shell and the right shell can rotate relative to each other through the spherical surface cooperation, so as to adapt to the turning of the pipeline. The sensor can feedback the data of the corresponding turn of the robot, so that the operator can further understand the position and direction of the bend inside the pipeline, and the sensor is arranged in a confined space to prevent the fluid medium from contacting it. When the turn is completed, the elastic reset part can drive the left shell and the right shell to reset, and through the cooperation of the traction rod, the left shell and the right shell can be prevented 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 joint of the left shell and the right shell is sealed by the first sealing ring to further prevent the fluid medium from entering the confined space.

[0010] The present invention is further provided with: the traction rod includes a left rod body and a right rod body arranged in a split manner, the left shell body is provided with a first spherical groove, the left rod body is partially provided in the first spherical groove, and partially extends into the confined space, the left rod body located in the first spherical groove is provided with a first spherical surface that cooperates with the first spherical groove, the right shell body is provided with a second spherical groove, the right rod body is partially located in the second spherical groove, and partially extends into the confined space, the right rod body located on the second spherical groove is provided with a second spherical surface that cooperates with the second spherical groove, and also includes a connecting piece for connecting the left rod body and the right rod body in the confined space, 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, the left and right rod bodies are arranged in a split manner, which makes it more convenient to assemble. One end of the two rod bodies can pass through the corresponding shell and enter the enclosed space, and then are connected by a connecting piece to prevent the two from separating. The universal joint structure can be formed by cooperating with the spherical surface on the corresponding rod body and the spherical groove.

[0012] The present invention is further provided with: the sensor is a pressure sensor, which is arranged on the left housing and has several pressure sensors arranged along the circumferential direction; and a clutch disc for resisting the pressure sensor is provided on the right housing.

[0013] By adopting the above technical solution, when the left and right shells rotate, the clutch disc can press the corresponding pressure sensor, and then judge the corresponding turning situation through the signal transmitted by the corresponding pressure sensor. The pressure sensor is arranged along the circumferential direction, and its collection is more stable.

[0014] The present invention is further configured as follows: a spring sheet is further provided on the right housing, and the clutch disc is pressed onto the right housing via the spring sheet.

[0015] By adopting the above technical solution, the clutch disc can be linked with the right housing, making it more stable when triggering the pressure sensor, and the spring plate is pressed, so when the force is too large, the spring plate can be relatively deformed.

[0016] The present invention is further provided with: the elastic return member is a spring, a first spring seat is provided on the left shell body, a second spring seat is provided on the right shell body and is arranged opposite to the first spring seat, one end of the spring is located on the first spring seat, and the other end is located on the second spring seat, and both the first spring seat and the second spring seat are provided with a fixing member for fixing the end of the spring.

[0017] By adopting the above technical solution, the spring is installed through the spring seat, making it more stable when in use, and the bottom of the spring is fixed with a fixing piece, which can further prevent it from deflecting, and the stability is better when in use.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] The present invention is further configured as follows: a plurality of first spring seats are arranged at intervals along the circumferential direction on the left housing, the number of second spring seats on the right housing is the same as that of the first spring seats, and they correspond one-to-one to the first spring seats, and each of the first spring seats and the second spring seats is provided with a spring.

[0023] By adopting the above technical solution and arranging a plurality of spring seats along the circumferential direction, the elastic force is more stable during resetting, and the resetting effect is also better.

[0024] 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.

[0025] The above technical solution can further prevent fluid from entering the confined space.

[0026] The present invention is further provided with a wire threading hole for the wire to pass through on both the left shell and the right shell, and a sealing member for sealing with the wire is also provided at the position of the wire threading hole.

[0027] The above technical solution can facilitate the connection of the sensor to the wire and achieve electrical connection. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the structure of the present invention after the left housing is removed;

[0030] Figure 3 This is a schematic diagram of the structure of the present invention after the left shell and the right shell are removed;

[0031] Figure 4 for Figure 1 Sectional view;

[0032] Figure 5 for Figure 4 Enlarged view of part a;

[0033] Figure 6 for Figure 4 Part b enlarged view;

[0034] Figure 7 for Figure 4 Enlarged view of local c;

[0035] Figure 8 for Figure 4 Local d enlarged image;

[0036] Figure 9 for Figure 4 Enlarged view of the local area.

[0037] Left housing 1, right housing 2, sealing ring mounting groove 21, enclosed space 3, sensor 4, 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, elastic return member 7, first spherical groove 8, second spherical groove 9, connecting member 10, clutch disc 20, spring piece 30, first spring seat 40, second spring seat 50, fixing member 60, second sealing ring 70, third sealing ring 80, threading hole 90. DETAILED DESCRIPTION

[0038] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings:

[0039] 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.

[0040] The present invention discloses a pipeline robot turn recognition and direction maintaining mechanism. In an embodiment of the present invention, the robot 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. At least one of the left shell 1 and the right shell 2 is provided with a sensor 4 for detecting turns. The sensor 4 is located in the closed space 3. The plugged-in part of the left shell 1 and the right shell 2 is spherically matched (the spherical match 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 robot 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 robot 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. The robot also includes an elastic reset member 7 for driving the left shell 1 and the right shell 2 to reset after the relative rotation.

[0041] When the above technical solution is adopted and used, it is assembled on a pipeline robot. When the pipeline robot moves, the left shell 1 and the right shell 2 can rotate relative to each other through the spherical fit, so as to adapt to the turning of the pipeline. The sensor 4 can feedback the data of the corresponding turn of the robot, so that the operator can further understand the position and direction of the bend inside the pipeline, and the sensor 4 is arranged in the confined space 3 to prevent the fluid medium from contacting it. When the turn is completed, the elastic reset member 7 can drive the left shell 1 and the right shell 2 to reset, and through the cooperation of the traction rod 6, the left shell 1 and the right shell 2 can be prevented from separating when reset. 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.

[0042] 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 a 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.

[0043] The sensor 4 is a pressure sensor, which is arranged on the left shell 1 and is arranged in a circumferential direction. A clutch disc 20 is provided on the right shell 2 for resisting the pressure sensor 4. When the left and right shells rotate, the clutch disc 20 can press the corresponding pressure sensor, and then judge the corresponding turning situation through the signal transmitted by the corresponding pressure sensor. The pressure sensor is arranged in the circumferential direction, and its collection is more stable. Of course, the sensor 4 can also be an infrared sensor, an optical coupler sensor or a Hall sensor.

[0044] The right housing 2 is also provided with a spring piece 30, and the clutch disc 20 is pressed onto the right housing 2 through the spring piece 30, so that the clutch disc 20 can cooperate with the right housing 2, making it more stable when triggering the pressure sensor. In addition, the spring piece 30 is pressed, and when the force is too large, the spring piece 30 can be relatively deformed.

[0045] The elastic return member 7 is a spring. A first spring seat 40 is provided on the left housing 1, and a second spring seat 50 is provided on the right housing 2, which is arranged opposite to the first spring seat 40. One end of the spring is located on the first spring seat 40, and the other end is located on the second spring seat 50. Both the first spring seat 40 and the second spring seat 50 are provided with a fixing member 60 for fixing the end of the spring. The spring is installed through the spring seat to make it more stable when in use, and the fixing member 60 is used to fix the bottom of the spring to further prevent it from deflecting, and the stability is better when in use. Of course, the elastic return member 7 can also be a spring sheet or a torsion spring.

[0046] 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.

[0047] 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.

[0048] A first lumbar disc 100 is provided on the left shell 1, and a first spring seat 40 is provided on the first lumbar disc 100, and several spring seats are provided at intervals along the circumferential direction. A second lumbar disc 200 is provided on the right shell 2, and a second spring seat 50 is provided on the second lumbar disc 200, and the second spring seat 50 corresponds to the first spring seat 40 one by one. Each of the first spring seat 40 and the second spring seat 50 is provided with a spring. By arranging multiple spring seats along the circumferential direction, the elastic force is more stable during reset and the reset effect is better.

[0049] 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 a clamp for easy assembly.

[0050] Both the left shell 1 and the right shell 2 are provided with threading holes 90 for the wires to pass through, and the threading holes 90 are also provided with sealing members that seal with the wires (as shown in the figure, the sealing member can be a sealing ring sleeved on the wires, or a sealing ring provided in the threading holes). The threading holes 90 can facilitate the connection of the sensor 4 to the wires to achieve electrical connection.

Claims

1. A pipeline robot turn recognition and direction maintenance mechanism, characterized by: The invention comprises a left shell (1) and a right shell (2) which 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); at least one of the left shell (1) and the right shell (2) is provided with a sensor (4) for detecting a turn; the sensor (4) is located in the closed space (3); the plugged-in 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 a device for preventing a fluid from entering the closed space is also provided. (3) The first sealing ring (5) is located at the plug-in position of the left shell (1) and the right shell (2), and also includes a traction rod (6) for limiting the separation of the left shell (1) and the right shell (2). The two ends of the traction rod (6) respectively cooperate with the corresponding shells to form a universal joint structure, and also include an elastic reset member (7) for driving the left shell (1) and the right shell (2) to reset after the left shell (1) and the right shell (2) rotate relative to each other. The traction rod (6) includes a left rod body (61) and a right rod body (62) arranged in a split manner. The left shell The housing (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 enclosed space (3), the left rod body (61) located in the first spherical groove (8) is provided with a first spherical surface (611) that matches the first spherical groove (8), the right housing (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 enclosed space (3), the right rod body (62) located on the second spherical groove (9) is provided with a first spherical surface (611) that matches the second spherical groove (8), and the left rod body (61) is provided with a first spherical surface (611) that matches the first spherical groove (8). The invention relates to a rod body (61) and a rod body (62) for connecting a left rod body (61) and a right rod body (62) in a sealed space (3). The rod body (61) and the rod body (62) are matched with each other in the sealed space (9). The rod body (61) and the rod body (62) are connected in the sealed space (3). 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 pipeline robot turning recognition and direction maintaining mechanism according to claim 1, characterized in that: The sensor (4) is a pressure sensor (4), which is arranged on the left housing (1) and has a plurality of pressure sensors (4) arranged along the circumferential direction. A clutch disc (20) for resisting the pressure sensor (4) is provided on the right housing (2).

3. The pipeline robot turn recognition and direction maintaining mechanism according to claim 2, characterized in that: The right housing (2) is further provided with a spring piece (30), and the clutch disc (20) is pressed onto the right housing (2) via the spring piece (30).

4. A pipeline robot turning recognition and direction maintaining mechanism according to claim 1, 2 or 3, characterized in that: The elastic return member (7) is a spring. A first spring seat (40) is provided on the left housing (1), and a second spring seat (50) is provided on the right housing (2) and is arranged opposite to the first spring seat (40). One end of the spring is located on the first spring seat (40), and the other end is located on the second spring seat (50). Both the first spring seat (40) and the second spring seat (50) are provided with a fixing member (60) for fixing the end of the spring.

5. A pipeline robot turning recognition and direction maintaining mechanism 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).

6. The pipeline robot turn recognition and direction maintaining mechanism according to claim 1, 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.

7. The pipeline robot turn recognition and direction maintaining mechanism according to claim 4, characterized in that: A first lumbar disc (100) is provided on the left housing (1), a first spring seat (40) is provided on the first lumbar disc (100), and a plurality of first spring seats (40) are provided at intervals along the circumferential direction, a second lumbar disc (200) is provided on the right housing (2), a second spring seat (50) is provided on the second lumbar disc (200), and the second spring seat (50) corresponds to the first spring seat (40) one by one, and each of the first spring seat (40) and the second spring seat (50) is provided with a spring.

8. The pipeline robot turn recognition and direction maintaining mechanism according to claim 5, 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).

9. A pipeline robot turning recognition and direction maintaining mechanism according to claim 1 or 2, characterized in that: Both the left housing (1) and the right housing (2) are provided with a threading hole (90) for threading a wire, and a sealing member for sealing the wire is also provided at the threading hole (90).

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