Pipeline Robot Device

Abstract

The present application discloses a pipeline robot device. The pipeline robot device comprises a device body, at least two telescopic rods and running wheels with the same number of telescopic rods. One end of each telescopic rod is connected to the device body, and the other end of each telescopic rod is connected to a running wheel, and the length of the telescopic rod is adjustable. The pipeline robot device provided by the present application can solve the problem that the existing pipeline robot is difficult to adapt to pipelines of different calibers.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a pipeline robot device. Background Art

[0002] A pipeline robot is an integrated system of machinery, electricity and instrumentation that can automatically walk along the inside or outside of a small pipeline, carry one or more sensors and operating machinery, and perform a series of pipeline operations under remote control by staff or automatic control by a computer.

[0003] According to relevant inspection standards, when a pipeline robot is inspecting, its camera must be raised to the center point of the pipeline so that it can better and more comprehensively detect the situation inside the pipeline. However, due to its own size and model, the existing pipeline robots cannot adapt to pipes of different diameters, resulting in the pipeline robot's camera being unable to be at the center point of the pipeline. Summary of the invention

[0004] The present application provides a pipeline robot device, which can solve the problem that existing pipeline robots are difficult to adapt to pipelines of different calibers.

[0005] The present application provides a pipeline robot device, which includes a device body, at least two telescopic rods, and running wheels having the same number as the telescopic rods. One end of each telescopic rod is connected to the device body, and the other end of each telescopic rod is connected to a running wheel, and the length of the telescopic rod is adjustable.

[0006] In the above scheme, a pipeline robot device is provided, which includes a device body, a telescopic rod with adjustable length, and running wheels. The device body is connected to the running wheels through the telescopic rod. When the pipeline robot device needs to be used, the length of the telescopic rod is adjusted according to the diameter of the pipeline, and then the device body is placed in the pipeline so that the running wheels touch the inner wall of the pipeline, so that the device can walk in the pipeline. By adjusting the length of at least two telescopic rods, the device body can be placed in the center of the pipeline, so that it can adapt to pipelines of different diameters. Similarly, the device body can have a camera. According to different pipelines, the length of the telescopic rod is adjusted so that the device body is placed in the center of the pipeline. When the device body is placed in the center of the pipeline, the camera is also placed in the center of the pipeline, so there is no need to adjust the height of the camera.

[0007] Optionally, in a possible implementation, the telescopic rod includes a first rod, a second rod and a locking member, one end of the first rod is connected to the device body, one end of the second rod is slidably sleeved on the first rod along the axial direction, and the other end of the second rod is connected to the walking wheel, and the locking member is used to unlockably lock the second rod to the first rod.

[0008] Optionally, in a possible implementation, a telescopic chamber is formed inside the first rod, and the telescopic chamber passes through one end of the first rod, a through hole is provided on a peripheral wall of the first rod, and a plurality of spaced screw holes are provided on the second rod along its axial direction;

[0009] The second rod is placed in the telescopic chamber and slidably matched with the first rod. The locking member is a bolt, which is passed through the through hole and selectively matched with a plurality of screw holes.

[0010] Optionally, in a possible implementation, the telescopic rod is movably connected to the device body;

[0011] The telescopic rod has a first position for storage and a second position for deployment.

[0012] Optionally, in a possible implementation, the number of the telescopic rods is four;

[0013] The pipeline robot device also includes two storage rails, which are parallel to each other and are respectively arranged at two ends of the device body;

[0014] Every two telescopic rods correspond to one storage track, and one end of each telescopic rod is slidably matched with the corresponding storage track;

[0015] The two telescopic rods corresponding to the same storage track are away from each other and are respectively located at two ends of the storage track, which is a state where the telescopic rod is in the second position;

[0016] The two telescopic rods corresponding to the same storage rail are close to each other and are both located in the middle of the storage rail, which means that the telescopic rods are in the first position.

[0017] Optionally, in a possible implementation, a wall surface of the telescopic rod is provided with a sliding block and a locking member;

[0018] Two first positioning holes and two second positioning holes are provided near each storage rail, the two first positioning holes are respectively close to two ends of the storage rail, and the two second positioning holes are located between the two first positioning holes;

[0019] The slider of the telescopic rod is slidably arranged in the storage track;

[0020] In the working state, the locking piece of the telescopic rod cooperates with the first positioning hole; in the storage state, the locking piece of the telescopic rod cooperates with the second positioning hole.

[0021] Optionally, in a possible implementation, the slider is a conical slider, which is rotatably matched with the storage track;

[0022] When the locking piece of the telescopic rod is matched with the first positioning hole, the telescopic rod forms an obtuse angle with the corresponding storage track;

[0023] When the locking piece of the telescopic rod is matched with the second positioning hole, the telescopic rod forms a right angle with the corresponding storage track.

[0024] Optionally, in a possible implementation, the locking member includes a locking pin passing through the telescopic rod and a spring located between the locking pin and the telescopic rod.

[0025] Optionally, in a possible implementation, the pipeline robot device further includes a tension spring, the tension spring is located in the storage track, and two ends of the tension spring are respectively connected to two sliders located in the storage track.

[0026] Optionally, in a possible implementation, the traveling wheel is a hub motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 is a top view of the pipeline robot device in this embodiment;

[0029] Figure 2 This is a bottom view of the pipeline robot device in this embodiment;

[0030] Figure 3 is a schematic diagram of the pipeline robot device and the pipeline in this embodiment;

[0031] Figure 4 Schematic diagram of the structure of the telescopic rod in this embodiment;

[0032] Figure 5 is a schematic diagram of the pipeline robot device in the present embodiment in a storage state;

[0033] Figure 6 It is a bottom view of the device body in this embodiment.

[0034] Icons: 10-pipeline robot device; 10a-pipeline; 11-device body; 12-telescopic rod; 12a-slider; 12b-locking piece; 13-travel wheel; 14-storage track; 21-locking pin; 22-spring; 31-tension spring; 81-first positioning hole; 82-second positioning hole; 120-first rod; 121-second rod; 122-locking piece; 1210-screw hole. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the description of the embodiments of the present application, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the products of the application are conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In the description of the embodiments of the present application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0041] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0042] The present embodiment provides a pipeline robot device 10 , which can solve the problem that existing pipeline robots are difficult to adapt to pipelines of different calibers.

[0043] See also Figure 1 , Figure 2 as well as Figure 3 , Figure 1 FIG. 1 shows a top view of the pipeline robot device 10 in this embodiment. Figure 2 FIG. 2 shows a bottom view of the pipeline robot in this embodiment. Figure 3 The schematic structures of the pipeline robot device 10 and the pipeline 10a are shown.

[0044] The pipeline robot device 10 includes a device body 11, at least two telescopic rods 12, and running wheels 13 having the same number as the telescopic rods 12. One end of each telescopic rod 12 is connected to the device body 11, and the other end of each telescopic rod 12 is connected to a running wheel 13, and the length of the telescopic rod 12 is adjustable.

[0045] It should be noted that in this embodiment, there are four telescopic rods 12. In other specific implementations, the number of the telescopic rods 12 is not limited.

[0046] In this embodiment, the running wheel 13 is a hub motor.

[0047] In the above embodiment, a pipeline robot device 10 is provided, and the pipeline robot device 10 includes a device body 11, a telescopic rod 12 with adjustable length, and a running wheel 13. The device body 11 and the running wheel 13 are connected by the telescopic rod 12. When the pipeline robot device 10 needs to be used, the length of the telescopic rod 12 is adjusted according to the diameter of the pipeline, and then the device body 11 is placed in the pipeline 10a, so that the running wheel 13 contacts the inner wall of the pipeline 10a, so that the pipeline robot device 10 can walk in the pipeline 10a (such as Figure 3 ). By adjusting the length of at least two telescopic rods 12, the device body 11 can be placed in the center of the pipeline, so as to adapt to pipelines of different diameters. Similarly, the device body 11 can have a camera. According to different pipelines, the length of the telescopic rods 12 is adjusted so that the device body 11 is placed in the center of the pipeline. When the device body 11 is placed in the center of the pipeline, the camera is also placed in the center of the pipeline, so there is no need to adjust the height of the camera.

[0048] See also Figure 4 , Figure 4 The specific structure of the telescopic rod 12 in this embodiment is shown.

[0049] The telescopic rod 12 includes a first rod member 120, a second rod member 121 and a locking member 122. One end of the first rod member 120 is connected to the device body 11, one end of the second rod member 121 is axially slidably sleeved on the first rod member 120, and the other end of the second rod member 121 is connected to the walking wheel 13. The locking member 122 is used to unlock the second rod member 121 to the first rod member 120.

[0050] The first rod 120 and the second rod 121 can slide relative to each other, and the first rod 120 and the second rod 121 are in a sleeve-connected relationship. Therefore, when the first rod 120 and the second rod 121 slide relative to each other, the total length of the first rod 120 and the second rod 121 changes, thereby changing the length of the telescopic rod 12. In order to maintain the relative position of the first rod 120 and the second rod 121, a locking member 122 is provided, and the second rod 121 is locked to the first rod 120 by the locking member 122, thereby fixing the length of the telescopic rod 12. When the length needs to be adjusted, the locking member 122 must be unlocked first to allow the first rod 120 and the second rod 121 to slide relative to each other.

[0051] In one possible implementation, a telescopic chamber is formed inside the first rod 120, and the telescopic chamber passes through one end of the first rod 120. The peripheral wall of the first rod 120 is provided with a through hole, and the second rod 121 is provided with a plurality of spaced screw holes 1210 along its axial direction.

[0052] The second rod 121 is inserted into the telescopic chamber and slidably matched with the first rod 120 . The locking member 122 is a bolt, which passes through the through hole and selectively matches with the plurality of screw holes 1210 .

[0053] It should be noted that, since the second rod 121 is inserted into the telescopic chamber of the first rod 120, the second rod 121 is abutted against the first rod 120 in the radial direction, and can only slide along the axial direction. By passing the bolt through the first rod 120 and cooperating with one of the screw holes 1210 on the second rod 121, the second rod 121 can be locked relative to the first rod 120. Since it is abutted in the radial direction, the telescopic rod 12 has no influence on the stability of the walking wheel 13, and under the condition that the length of the telescopic rod 12 is adjustable, it will not affect the stable walking of the pipeline robot device 10 in the pipeline.

[0054] It should be noted that the spacing between the screw holes 1210 on the second rod 121 can be determined according to the increasing or decreasing value of the pipe diameter, so that the length adjustment of the telescopic rod 12 is effective.

[0055] It should be noted that, in other specific embodiments, the telescopic rod 12 also includes other telescopic rods, that is, there is no limit on the number of rods in the telescopic rod 12. For example, it also includes a third rod, a fourth rod, etc., and their telescopic and locking methods are the same as the telescopic and locking methods of the above-mentioned first rod 120 and the second rod 121.

[0056] Optionally, in one possible implementation, the telescopic rod 12 is movably connected to the device body 11 so that the telescopic rod 12 has a first position for storage and a second position for expansion for normal operation.

[0057] That is, the telescopic rod 12 has a storage state and an operating state by changing its position relative to the device body 11 .

[0058] See also Figure 5 and Figure 6 , Figure 5 FIG. 1 shows a schematic structure of the pipeline robot device 10 in the embodiment when it is in the storage state. Figure 6 A bottom view of the device body 11 in this embodiment is shown.

[0059] The pipeline robot device 10 further includes two storage rails 14 . The two storage rails 14 are parallel to each other and are respectively disposed at two ends of the device body 11 .

[0060] Every two telescopic rods 12 correspond to one storage rail 14 , and one end of each telescopic rod 12 is slidably matched with the corresponding storage rail 14 .

[0061] The pipeline robot device 10 has a working state and a storage state:

[0062] In working state (see Figure 1 ), that is, the state when the telescopic rod is in the second position is: the two telescopic rods 12 corresponding to the same storage rail 14 are away from each other and are respectively located at the two ends of the storage rail 14.

[0063] In the stowed state (see Figure 5 ), that is, the state when the telescopic rod is in the first position is: the two telescopic rods 12 corresponding to the same storage rail 14 are close to each other and are both located in the middle of the storage rail 14.

[0064] In order to facilitate storage, the present embodiment provides the technical solution described above. When storage is required, the telescopic rod 12 can slide on the storage track 14 so that the two telescopic rods 12 are close to each other, thereby reducing the space occupied by the pipeline robot device 10. At the same time, the length of the telescopic rod 12 can be adjusted to further reduce the space occupied by the pipeline robot device 10, thereby facilitating storage.

[0065] In one possible implementation, Figure 4 The wall surface of the telescopic rod 12 is provided with a slider 12a and a locking member 12b. Figure 5Two first positioning holes 81 and two second positioning holes 82 are provided near each storage rail 14 . The two first positioning holes 81 are respectively close to the two ends of the storage rail 14 , and the two second positioning holes 82 are located between the two first positioning holes 81 .

[0066] The sliding block 12 a and the locking member 12 b are located on the first rod 120 .

[0067] The slider 12 a of the telescopic rod 12 is slidably disposed in the storage rail 14 , so that the telescopic rod 12 can slide relative to the storage rail 14 .

[0068] In the working state, the locking piece 12b of the telescopic rod 12 cooperates with the first positioning hole 81 (such as Figure 2 In the storage state, the locking member 12b of the telescopic rod 12 cooperates with the second positioning hole 82 (such as Figure 5 ).

[0069] The slider 12a is a conical slider, which is rotatably matched with the receiving track 14. It should be noted that the conical slider 12a rotates in the receiving track 14 with its axis as the rotation axis.

[0070] When the locking piece 12b of the telescopic rod 12 is matched with the first positioning hole 81, the telescopic rod 12 forms an obtuse angle with the corresponding storage rail 14 (such as Figure 2 ).

[0071] When the locking piece 12b of the telescopic rod 12 is matched with the second positioning hole 82, the telescopic rod 12 is at a right angle to the corresponding storage rail 14 (such as Figure 5 ).

[0072] At the same time, it should be noted that in other specific embodiments, the number of the first positioning holes 81 can be multiple, so that when the locking piece 12b of the telescopic rod 12 selectively cooperates with one of the first positioning holes 81, the telescopic rod 12 can be at different angles with the corresponding storage rail 14, thereby meeting the needs of pipes of different calibers.

[0073] Meanwhile, it should be noted that, in other specific implementations, the technical effect of the adjustable angle of the telescopic rod 12 relative to the device body 11 can be achieved through other technical solutions that can be thought of by those skilled in the art.

[0074] See also Figure 4 The locking member 12 b includes a locking pin 21 passing through the telescopic rod 12 and a spring 22 located between the locking pin 21 and the telescopic rod 12 .

[0075] It should be noted that when no external force acts on the locking pin 21, the locking pin 21 abuts against the first positioning hole 81 or the second positioning hole 82 under the elastic force of the spring 22. If the position of the telescopic rod 12 needs to be changed, the locking pin 21 needs to be pulled outward to overcome the elastic force of the spring 22 so that the positioning pin can be disengaged from the first positioning hole 81 or the second positioning hole 82.

[0076] At the same time, since the locking pin 21 is connected to the telescopic rod 12 through the spring 22, it has integrity to prevent the locking pin 21 from falling off. At the same time, due to the presence of the spring 22, the locking stability of the locking pin 21 is guaranteed.

[0077] In a possible implementation, the pipeline robot device 10 further includes a tension spring 31 , which is located in the storage rail 14 , and whose two ends are respectively connected to two sliders 12 a located in the storage rail 14 .

[0078] See also Figure 2 and Figure 5 By setting the tension spring 31, when the locking pin 21 is disengaged from the first positioning hole 81, the two telescopic rods 12 can be pulled inward under the action of the elastic force, so that the two telescopic rods 12 located in the same storage rail 14 can be quickly slid into the storage state.

[0079] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A pipeline robot device, characterized in that: include: Device body; At least two telescopic poles; as well as A running wheel, wherein the running wheel is a hub motor; One end of each of the telescopic rods is connected to the device body, and the other end of each of the telescopic rods is connected to one of the walking wheels; The length of the telescopic rod is adjustable, and the telescopic rod is movably connected to the device body; the telescopic rod has a first position for storage, and a second position for expansion for normal operation, and the number of the telescopic rods is four; the pipeline robot device also includes two storage rails, the two storage rails are parallel to each other and are respectively arranged at the two ends of the device body; every two telescopic rods correspond to one storage rail, and one end of each telescopic rod is slidably matched with the corresponding storage rail; the two telescopic rods corresponding to the same storage rail are away from each other and are respectively located at the two ends of the storage rail, which is the state of the telescopic rod being in the second position; the two telescopic rods corresponding to the same storage rail are close to each other and are both located in the middle of the storage rail, which is the state of the telescopic rod being in the first position, and the wall surface of the telescopic rod is provided with a slider and a locking member; Two first positioning holes and two second positioning holes are provided near each storage rail, the two first positioning holes are respectively close to the two ends of the storage rail, and the two second positioning holes are located between the two first positioning holes; the slider of the telescopic rod is slidably disposed in the storage rail; In the working state, the locking piece of the telescopic rod cooperates with the first positioning hole; In the storage state, the locking piece of the telescopic rod cooperates with the second positioning hole.

2. The pipeline robot device according to claim 1, characterized in that: The telescopic rod includes a first rod, a second rod and a locking member, one end of the first rod is connected to the device body, one end of the second rod is slidably sleeved on the first rod along the axial direction, the other end of the second rod is connected to the walking wheel, and the locking member is used to unlockably lock the second rod to the first rod.

3. The pipeline robot device according to claim 2, characterized in that: A telescopic chamber is formed inside the first rod, and the telescopic chamber passes through one end of the first rod. A through hole is provided on the peripheral wall of the first rod, and a plurality of screw holes distributed at intervals are provided on the second rod along the axial direction thereof. The second rod is inserted into the telescopic chamber and slidably matched with the first rod. The locking member is a bolt, which passes through the through hole and selectively matches with a plurality of screw holes.

4. The pipeline robot device according to claim 1, characterized in that: The slider is a conical slider, which is rotatably matched with the storage track; When the locking piece of the telescopic rod is matched with the first positioning hole, the telescopic rod forms an obtuse angle with the corresponding storage track; When the locking piece of the telescopic rod is matched with the second positioning hole, the telescopic rod forms a right angle with the corresponding storage rail.

5. The pipeline robot device according to claim 1, characterized in that: The locking member comprises a locking pin penetrating the telescopic rod and a spring located between the locking pin and the telescopic rod.

6. The pipeline robot device according to claim 1, characterized in that: The pipeline robot device also includes a tension spring, which is located in the storage track, and two ends of the tension spring are respectively connected to two sliders located in the storage track.

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