A gas-liquid hybrid inspection robot

Abstract

The present invention provides a gas-liquid hybrid power inspection robot, including: a video transmission detection guide is provided with a video information acquisition system; a flat claw outer shell 1 and a flat claw outer shell 2 both include flat claws symmetrically arranged at the bottom, a coating software is provided on the inner side of the flat claw, and a claw cavity is formed inside the coating software; a replaceable gas-liquid hybrid multi-chamber body includes a tube body, and the tube body is made of elastic material, and the internal cavity is provided with N chambers along the radial direction, and the chamber is filled with gas and / or liquid, and a controllable heating substance is provided in the liquid; an energy power control system is provided inside the flat claw outer shell 2, and the claw cavity and chambers are connected and / or connected to the energy power control system. The present invention has a compact structure and a soft body, and can perform operations such as moving forward, turning, raising the head, crossing obstacles and changing lines, and control its bending or extension in all directions. It supports a gas-liquid hybrid power mode and is more suitable for operations in narrow underground line spaces.

Description

Technical Field

[0001] The invention relates to the technical field of soft crawling robots, and in particular to a gas-liquid hybrid power inspection robot. Background Art

[0002] With the development of society, the population is increasing, and the available land area is becoming smaller and smaller. More and more cities choose to bury transmission lines underground to alleviate traffic congestion and land shortage. However, line inspection is very difficult, with harsh environment, small working space, complicated process and long cycle time.

[0003] Modern cities cannot live without electricity, and ultra-high voltage lines are the main power supply lines of cities. Once the power is cut off, it will cause immeasurable economic losses. Some problems currently faced by cable inspections: The working environment of line maintenance personnel is very harsh. For example, next to a 500,000-volt ultra-high voltage line, the surrounding current can reach 30 mA. Most people will feel a current of 1 mA, and will be very uncomfortable with 20 mA. When it reaches 30 mA, the human body will feel extremely uncomfortable. At present, the most commonly used inspection solution for high-voltage cables is drone inspection, but it is easily affected by electromagnetic interference and is expensive.

[0004] In addition, with the rapid development of society and the rise of the subway industry, large equipment such as shield machines are mass-produced. At the same time, due to the small internal gaps and complex lines of shield machines, internal maintenance is not easy. Traditional maintenance services are expensive and have low accuracy and cannot fully detect the problem location.

[0005] At present, line inspection is mainly carried out manually. Taking traditional ground cable inspection as an example, the industry currently has the following problems:

[0006] 1. The working space is small, and the underground cable space can only accommodate one person. And for a cable pipeline with a diameter of 1m, manual inspection will be very uncomfortable;

[0007] 2. The visibility of underground cable pipelines is low and can only be viewed through special lighting equipment, which places high demands on workers' vision;

[0008] 3. Manual inspection is time-consuming and labor-intensive, with low efficiency and high missed inspection rate;

[0009] 4. Most robots currently used are mechanical structures, and can be divided into track inspection robots and crawler inspection robots according to their movement mode. However, track inspection robots must rely on special tracks for inspection; crawler inspection robots, due to the complex underground road conditions, make the flexibility of the robot trolley more restricted by the mechanical structure, and their adaptability to complex environments is not as strong as that of flexible robots. At the same time, they are equipped with large sensors and are very large in size, so they can only operate in large integrated pipe corridors.

[0010] Therefore, how to provide a fully adaptive mobile gas-liquid hybrid robot that can replace manual labor in underground cable inspection is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0011] In view of the above research status and existing problems, the present invention provides a gas-liquid hybrid inspection robot, which adopts a replaceable gas-liquid hybrid multi-chamber body, increases the robot's application range, meets various operation requirements, and has a fully adaptable and controllable line shifting function. By setting a video transmission detection guide, it can ensure the monitoring and control of the operation environment and the operation process.

[0012] The present invention provides a gas-liquid hybrid inspection robot, comprising a video transmission detection guide, a flat claw outer shell, a Y-axis steering device, a replaceable gas-liquid hybrid multi-chamber body, a Y-axis steering device, a flat claw outer shell, and a tail shell connected in sequence;

[0013] The video transmission detection guide is provided with a video information acquisition system;

[0014] The flat claw outer shell 1 and the flat claw outer shell 2 both include a pair of flat claws symmetrically arranged at the bottom, a covering soft body is provided inside the flat claws, and a claw cavity is formed inside the covering soft body;

[0015] The Y-axis steering gear 1 is rotatably connected to the flat claw outer shell 1, and the Y-axis steering gear 2 is rotatably connected to the flat claw outer shell 2;

[0016] The replaceable gas-liquid mixed multi-chamber body comprises a tube body, and the tube body is made of elastic material, and the internal cavity is provided with N chambers along different radial directions, the chambers penetrate the tube body, the chambers are filled with gas and / or liquid, and the liquid is provided with a controllable heating substance;

[0017] An energy power control system is arranged inside the second flat claw outer shell, and the claw cavity and the chamber are both communicated and / or connected with the energy power control system.

[0018] Preferably, the flat claw is flat, with a convex upper end surface, a flat and smooth lower end surface, and a hard outer coating on the outer side.

[0019] Preferably, the video information acquisition system includes a lighting device and a camera, and a battery is also provided in the video transmission detection guide, and the lighting device and the camera are both connected to the battery.

[0020] Preferably, the energy power control system includes an air storage device and a power control device, and the claw cavity and the chamber are connected to the air storage device through the power control device.

[0021] The gas storage device is provided with an equal number of outlets as the replaceable gas-liquid mixed multi-chamber body and the claw cavity. The power control device determines the gas filling and deflation switch of the gas storage device to the replaceable gas-liquid mixed multi-chamber body and the claw cavity passage, such as by switching the solenoid valve to charge and deflate.

[0022] Preferably, the power control device is connected to the heating device of the replaceable gas-liquid mixed multi-chamber body, the claw cavity and other cavity controllable heating materials to form a circuit control on and off, wherein the heating device can be a resistor.

[0023] Preferably, two ends of the replaceable gas-liquid mixing multi-chamber body are detachably connected to the Y-axis steering device 1 and the Y-axis steering device 2 respectively.

[0024] Preferably, the internal cavity of the tube body of the replaceable gas-liquid mixing multi-chamber body is distributed radially and equidistantly into N chambers; the tube body as a whole is a bellows, or the tube body includes a bellows section and a straight tube section, the bellows section is located near the two ends of the tube body, and the straight tube section is located in the middle of the tube body, wherein N≥1.

[0025] Preferably, the tube body wall includes a thick-walled portion and a thin-walled portion, and the thick-walled portion and the thin-walled portion surround the cavity; or, the tube body wall includes soft material portions with different elastic coefficients, and the soft material portions with different elastic coefficients surround the cavity.

[0026] Preferably, the replaceable gas-liquid mixed multi-chamber body includes M tube bodies, the M tube bodies are axially arranged in parallel, the chambers inside the M tube bodies are independent of each other, and are respectively communicated / connected to the energy power control system, wherein M≥1.

[0027] Preferably, each of the chambers is divided into Q independent air cavities along the axial direction of the tube body, and are respectively communicated / connected to the energy power control system.

[0028] Preferably, the tube body has a smooth surface; or the tube body is configured as Q layers of annular surfaces according to the Q independent air cavities, and each layer of the annular surface is connected through the middle portion of the tube body.

[0029] Preferably, the ratio of liquid to the entire cavity in the replaceable gas-liquid mixed multi-chamber body is 0-1; and the controllable heating material includes a resistor.

[0030] Preferably, the video information acquisition system also includes a sensor for detecting whether the line is open or closed and determining the position of the disconnection, such as a torque sensor, an ultra-thin bending sensor, an angle sensor, an NCV sensor, an infrared sensor, an ultrasonic sensor, a metal film sensor, a temperature sensor, a humidity sensor, and a smoke sensor.

[0031] Preferably, a protruding structure is provided on one side of the coating software close to the cable to increase friction, and the material of the protruding structure can be the same as that of the coating software.

[0032] Preferably, the internal chambers of the replaceable gas-liquid mixed multi-chamber body can be controlled in groups when performing actions, and the grouping conditions can be divided according to the cable conditions, including grouping and timing control of multiple chambers along the radial and axial directions of the replaceable gas-liquid mixed multi-chamber body.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The present invention can realize the inspection of underground line pipeline environment, such as whether there is water leakage and landslide, etc., and can also realize the inspection of underground cables, mainly checking whether there is any cross-arrangement, whether the surface and wiring layer are damaged, and whether the signs are complete and clear, and whether the tray bracket is damaged; it can also inspect the ground lines. The present invention has a compact structure and a soft body. It can move from one line to another, control its bending or extension in all directions, and bend in a wave-like manner when turning. It supports gas-liquid hybrid power mode, has strong controllability, and is more suitable for operations in narrow underground line spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0036] Figure 1 This is the overall structure diagram of the gas-liquid hybrid power inspection robot provided by the present invention;

[0037] Figure 2 It is a structural diagram of the video transmission detection guide provided by the present invention;

[0038] Figure 3 It is a schematic diagram of the assembly structure of the camera provided by the present invention in the video transmission detection guide;

[0039] Figure 4 2 is a schematic structural diagram of a flat claw outer cover shell 1 provided by the present invention;

[0040] Figure 5 It is a schematic diagram of the π-shaped plate structure provided by the present invention;

[0041] Figure 6 It is a schematic diagram of the assembly structure of the π-shaped plate provided by the present invention in the flat claw outer cover 1;

[0042] Figure 7 It is a front structural schematic diagram of a Y-axis steering device 1 provided by the present invention;

[0043] Figure 8 It is a schematic diagram of the back structure of the Y-axis steering device 1 provided by the present invention;

[0044] Fig. 9 It is a schematic diagram of the connection structure between the Y-axis steering device 1 and the π-shaped plate provided by the present invention;

[0045] Fig.10 It is a schematic diagram of the assembly structure of a Y-axis steering device and a flat claw outer cover shell provided by the present invention;

[0046] Fig.11 It is a schematic diagram of the end structure of the replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0047] Fig.12 It is a schematic diagram of the connection structure of the replaceable gas-liquid mixing multi-chamber body and the Y-axis steering device provided by the present invention;

[0048] Fig.13 It is a schematic diagram of the assembly structure of the energy power control system provided by the present invention in the flat claw outer cover 2;

[0049] Fig.14 It is a schematic diagram of the tail housing structure provided by the present invention;

[0050] Fig.15 It is a schematic diagram of the side structure of the α-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0051] Fig.16 It is a cross-sectional view of the AA structure of the α-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0052] Fig.17 It is a schematic diagram of the side structure of the β-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0053] Fig.18 The AA structure cross-sectional view of the β-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0054] Fig.19 A BB structure cross-sectional view of a β-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0055] Fig. 20 A schematic diagram of the three-dimensional structure of a γ-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0056] Fig.21The AA structure cross-sectional view of the γ-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0057] Fig. 22 A schematic diagram of the three-dimensional structure of a delta-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0058] Fig.23 The AA structure cross-sectional view of the delta-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0059] Fig.24 A BB structure cross-sectional view of a delta-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0060] Fig.25 A schematic diagram of the side structure of an ε-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0061] Fig.26 The AA structure cross-sectional view of the ε-type replaceable gas-liquid mixing multi-chamber body provided by the present invention;

[0062] Fig. 27 A structural cross-sectional view of a partial embodiment of a tube body and tube wall provided by the present invention including soft materials with different elastic coefficients;

[0063] Fig.28 The external structure diagram of the embodiment of the pipe body and pipe wall provided by the present invention including a part of soft materials with different elastic coefficients;

[0064] Fig.29 A schematic diagram of the claw-coated soft structure provided by the present invention;

[0065] Fig.30 It is a principle block diagram of the energy power control system of the present invention. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0067] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0068] See the instruction manual Figure 1The present invention discloses a gas-liquid hybrid inspection robot, comprising a video transmission detection guide 1, a flat claw outer shell 2, a Y-axis steering device 3, a replaceable gas-liquid mixed multi-chamber body 4, a Y-axis steering device 5, a flat claw 8 outer shell 6, and a tail shell 7 connected in sequence; a video information acquisition system is arranged in the video transmission detection guide 1; the flat claw outer shell 2 and the flat claw 8 outer shell 6 both include a pair of flat claws 8 symmetrically arranged at the bottom, and a covering software 81 is arranged on the inner side of the flat claw 8, and the covering software 81 is internally composed of The claw cavity 82; the Y-axis steering gear 13 is rotatably connected to the flat claw outer shell 12, and the Y-axis steering gear 25 is rotatably connected to the flat claw 8 outer shell 26; the replaceable gas-liquid mixed multi-chamber body 4 includes a tube body 41, and the tube body 41 is made of elastic material, and the internal cavity is provided with N chambers along the radial direction, and the chamber runs through the tube body 41, and the chamber is filled with gas and / or liquid, and the liquid is provided with a controllable heating substance; the flat claw 8 outer shell 26 is provided with an energy power control system, and the claw cavity 82 and the chamber are connected and / or connected to the energy power control system. The ratio of liquid in the replaceable gas-liquid mixed multi-chamber body 4 to the entire cavity is 0-1; the controllable heating substance includes a resistor. The video information acquisition system includes a lighting device and a camera 11, and a battery is also provided in the video transmission detection guide 1, and the lighting device and the camera 11 are both connected to the battery. The energy power control system includes an air storage device 61 and a power control device 62 , and the claw cavity 82 and the chamber are connected to the air storage device 61 through the power control device 62 .

[0069] See the instruction manual Figure 2 and 3 A camera 11 is arranged in the front of the video transmission detection guide 1. The camera 11 is a small high-definition camera 11. A fixing plate 12 is also arranged in the video transmission detection guide 1. The camera 11 is mounted on the fixing plate 12. A limiting groove 15 is arranged on the fixing plate 12 immediately behind the camera 11. A limiting rod 14 is inserted into the limiting groove 15 to limit the installation position of the camera 11. A step hole 13 is also arranged on the fixing plate 12 for installing and fixing the flat claw outer cover 2.

[0070] See the instruction manual Figure 4-6The flat claw outer shell 2 includes a π-shaped plate 22 disposed inside, and the π-shaped plate 22 is plugged and fixed by a guide rail 21 disposed inside the flat claw outer shell 2. The π-shaped plate 22 includes a horizontal plate, which is inserted into the guide rail 21, and two vertical rods 24 symmetrically and vertically disposed on the horizontal plate 23, and a card plate 25 is disposed at the front end of the two vertical rods 24. The vertical rod 24 is used to be rotatably connected with the Y-axis steering gear 3, and the card plate 25 is used to install a battery, and the battery is used to power the information collection system. A pair of flat claws 8 with specific shapes are symmetrically disposed at the bottom of the flat claw outer shell 2, and a coating software 81 is disposed inside the flat claw 8, and the coating software 81 is made of elastic material, and a claw cavity 82 is formed inside the coating software 81. The upper end surface of the flat claw 8 is convex, and the lower end surface is flat and smooth. The claw cavity 82 is a gas-liquid mixed cavity, and the contact surface with the cable has nano-level protrusions and has a high friction coefficient. The claw cavity 82 is provided with a through hole, which is sealed and connected with an air guide end, and is connected to the energy power control system through a ventilation pipeline; the claw cavity 82 is also provided with a wire hole for the control line to pass through, and the control line connects the energy power control system and the controllable heating material. The horizontal plate 23 is provided with a step hole 26, which is used to realize the installation and fixation of the π-shaped plate 22 in the flat claw outer shell 2. The bottom of the flat claw outer shell 2 is provided with two studs, which correspond to the positions of the step hole 13 and the step hole 26 respectively. The bolt passes through the stud and the step hole 13, and is tightened with a nut to realize the fixation of the video transmission detection guide 1 and the flat claw outer shell 2. The bolt passes through the stud and the step hole 26, and is tightened with a nut to realize the fixation of the horizontal plate 23. Among them, the video transmission detection guide 1 is connected to the connecting end face of the flat claw outer shell 2Ⅰ. The transverse plate 23 is also provided with a threading hole 27 for passing a ventilation line and / or an electrical conductor, and is communicated with and / or connected to the claw cavity 82 to control the expansion of the covering software 81.

[0071] See the instruction manual Figure 7-12The Y-axis steering device 3 adopts a rigid-flexible hybrid rotating buckle form. A steering rod 31 is provided at the Ⅱ end of the Y-axis steering device 3. A transverse shaft hole is provided on the steering rod 31. The steering rod 31 is placed between the two vertical rods 24, and the shaft is inserted into the shaft hole on the vertical rod 24 and the transverse shaft hole on the steering rod 31 to realize the rotation of the Y-axis steering device 3 relative to the flat claw outer shell 2 along the Y-axis direction. A card slot 33 is provided on the outer edge of the end surface of the Ⅱ end of the Y-axis steering device 3. The card slot 33 matches the edge of the Ⅱ end of the flat claw outer shell 2 to achieve a perfect fit with the flat claw outer shell 2. The Ⅰ end of the Y-axis steering device 3 is connected to the replaceable gas-liquid mixed multi-chamber body 4. The Ⅰ end of the Y-axis steering device 3 has a concave cavity 34. The inner diameter of the concave cavity 34 matches the outer diameter of the Ⅰ end of the replaceable gas-liquid mixed multi-chamber body 4. A clamping part 35 is provided on the outer edge of the inner wall of the concave cavity 34 toward the center of the concave cavity 34. The clamping part 35 includes a plurality of convex baffles arranged circumferentially. A clamping part 48 matching the clamping part 35 is provided on the outer edge of the circumferential surface of the replaceable gas-liquid mixing multi-chamber body 4Ⅰ. The clamping part 48 includes a plurality of flexible protrusions arranged circumferentially. The inner diameter of the concave cavity 34 is slightly larger than the outer diameter of the replaceable gas-liquid mixing multi-chamber body 4 plus the height of the flexible protrusion at the end of the replaceable gas-liquid mixing multi-chamber body 4Ⅰ. A gap is left between the protruding baffles at the bottom of the end of the Y-axis steering gear 3Ⅰ. The size and shape of the gap are completely consistent with the size and shape of the inner diameter of the end of the replaceable gas-liquid mixing multi-chamber body 4Ⅰ plus the height of the flexible protrusion. A threading hole 2 32 is provided on the Y-axis steering gear 3 for the passage of ventilation pipelines and / or electrical wires to achieve the connection and / or connection of the claw cavity 82 to the energy and power control system.

[0072] An insulating elastic ring 9 is connected between the end II of the Y-axis steering gear 3 and the end II of the flat claw outer shell 2. The insulating elastic ring 9 is made of a telescopic material and is in a pleated shape. The insulating elastic ring 9 is bonded or fixed with screws, or is pressed and clamped by a round hoop inside the flat claw outer shell 2. This ensures that the Y-axis steering gear 3 remains airtight without any gaps or leaks when it rotates.

[0073] The replaceable gas-liquid mixing multi-chamber body 4 is made of elastic material, and both ends, namely end I and end II, are provided with a clamping part 2 48. The ends I and II of the replaceable gas-liquid mixing multi-chamber body 4 are respectively detachably clamped with the Y-axis steering gear 1 3 and the Y-axis steering gear 2 5. The replaceable gas-liquid mixing multi-chamber body 4 is divided into five types: α type, β type, γ type, δ type and ε type. Each individual of each type has a gas-liquid mixing chamber, and both ends of each type are respectively directly connected with the Y-axis steering gear 1 3 and the Y-axis steering gear 2 5;

[0074] The Y-axis steering gear 25 and the flat claw 8 outer shell 26 are arranged in a mirror image relative to the replaceable gas-liquid mixing multi-chamber body 4 and the Y-axis steering gear 13 and the flat claw 8 outer shell 12, and the structure of the Y-axis steering gear 25 is the same as that of the Y-axis steering gear 13, and the structure of the flat claw 8 outer shell 26 is the same as that of the flat claw 8 outer shell 12. The connection method between the replaceable gas-liquid mixing multi-chamber body 4Ⅱ end and the Y-axis steering gear 25 is the same as the connection method between the replaceable gas-liquid mixing multi-chamber body 4Ⅰ end and the Y-axis steering gear 13, and the connection method between the Y-axis steering gear 13 and the flat claw 8 outer shell 12 is the same as the connection method between the Y-axis steering gear 25 and the flat claw 8 outer shell 26.

[0075] The flat claw 8 is provided with a tail clamp 6325 extending from the outer shell 26. The tail clamp 6325 is provided with a mounting slot 64. The tail shell 7 is provided with a card 71. The card 71 is fixedly engaged with the mounting slot 64 to achieve the connection and fixation of the tail clamp 6325. The flat claw 8 is provided with a gas storage device 61 fixed inside the outer shell 26. The gas storage device 61 is a small gas storage device 61. A power control device 62 is also fixed. The power control device 62 is connected to the gas storage device 61 and can be controlled by sending commands to the power control device 62 through the client.

[0076] The power control device 62 includes a WiFi module for receiving remote commands sent by the client through the Internet. At the same time, the power control device 62 receives data sent back by sensors, etc., and controls the gas rapid switching valve through a data processor, or controls the current of the resistance wire in the liquid to make the resistance wire heat up.

[0077] The following is a detailed description of the specific structures of the five types of replaceable gas-liquid mixing multi-chamber bodies: α type, β type, γ type, δ type and ε type:

[0078] α-type replaceable gas-liquid mixing multi-chamber body

[0079] See the instruction manual Figure 15-16 The cavity inside the tube body of the replaceable gas-liquid mixing multi-chamber body is evenly distributed in the radial direction into N chambers 42; the tube body 41 is a corrugated tube as a whole. The N chambers 42 can be evenly distributed in a circular array on the cross section of the tube body.

[0080] Go forward: Send a forward command remotely. First, fill the claw cavity of the flat claw outer shell 1 with gas or conduct electricity or heat the heating material in part of the liquid therein through the power control system. The flat claw outer shell blocks the expansion outward, and the coated soft body begins to expand and contact the cable, slowly wrapping the cable to achieve the front claw fixing effect. Then, the claw cavity of the flat claw outer shell 2 is deflated or the heating material in part of the liquid therein is turned off and cooled through the power control system. The clamping cavity of the flat claw outer shell 2 gradually moves away from the cable surface and reaches a relaxed state. Then, the power control system can be used to fill the chamber located in the upper half of the replaceable gas-liquid mixed multi-chamber body with gas or conduct electricity or heat the heating material in part of the liquid therein to make it reach a bent state. Among them, the chamber is a gas-liquid mixed chamber with a gas proportion of 0% to 100%. Thus, the robot moves forward. Subsequently, the power control system is used to fill the claw cavity of the flat claw outer shell 2 with gas or conduct or heat the heating material in the liquid therein, and the flat claw outer shell is blocked from expanding outward, and the covering soft body begins to expand and contact the cable, slowly wrapping the cable to achieve the effect of fixing the rear claw. The power control system controls the flat wrapped claw and the gas-liquid mixing chamber of the replaceable gas-liquid mixing multi-chamber body α-type to charge and discharge gas in sequence. At this point, a forward cycle is achieved, and it can always be fixed on the cable.

[0081] Turning: When there is a curve, the pipeline bending shape, angle, and the real-time relative position of the curve and the robot are transmitted to the power control module through auxiliary means such as cameras and ultra-thin bending sensors. According to the bending direction of the curve, the power control module fills the chamber of the replaceable gas-liquid mixed multi-chamber body located on the outer wall close to the turning point of the curve with gas or conducts or heats the heating material in part of the liquid therein, so that the bend in the left and right directions matches the curve, so that various types of curves, including S-shaped and other difficult ones, can be handled. Among them, the ultra-thin bending sensor can be set near the front end of the flat claw outer shell.

[0082] Head-up: When a head-up command is sent, the cached steps will be executed first, and the final state is that the flat claw of the flat claw outer shell 2 wraps the cable to fix it. Then the remotely sent upward head-up command is executed, and then the power control system can be used to fill the chamber of the replaceable gas-liquid mixed multi-chamber body located in the lower part with gas, or the heating material in part of the liquid therein is conducted or heated, and the head-up can be achieved by making it reach a bent state. In addition, according to the left and right offset and height adjustment of the command, the chamber of the replaceable gas-liquid mixed multi-chamber body located in the lower, left, and right parts can be filled with gas, or the heating material in part of the liquid therein is conducted or heated, so that it can be raised in all directions and at all heights, thereby increasing the field of vision. You can see the top, front, rear and lower scenes, a 360-degree panoramic view.

[0083] Cable shifting: When the cable shifting command is sent, gas is filled into the claw cavity of the flat claw outer shell or the heating material in part of the liquid therein is conducted or heated through the power control system. The flat claw outer shell blocks the expansion outward, and the covering software begins to expand and contact the cable, slowly wrapping the cable to achieve a fixing effect. The image detected by the camera is wirelessly sent to the remote end by the power control system, and image recognition is performed to determine the distance and direction between the two cables, and the angle of the straight line between the two cables. The data results are sent to the power control system, and the cavities located in the upper, lower, left and right halves of the replaceable gas-liquid mixed multi-chamber are controlled according to the relevant information received, so that it forms a combination regulation of gas-liquid mixed multi-chambers in different sections, wherein the N chambers can be divided into multiple sections along the axial direction, and the chamber located in the lower half of the front section is filled with gas or the heating material in part of the liquid therein is conductively or heated to make it bend directly above the cable, and the middle sections are straight, curved, telescopic, etc., which change the direction, length, and size of the replaceable gas-liquid mixed multi-chamber body, so that the end direction of the middle sections is tangent or approximately tangent to the cable to be moved, and the height can make the outer cover of the flat clamping claw higher than the cable. The rear section is straight, accounting for 0 to 1 of the α-type ratio of the entire gas-liquid mixed multi-chamber body, and the direction is consistent with the direction of the cable to be moved; the power control system is used to control the chamber of the middle section to be filled with gas or to conduct or heat the heating material in part of the liquid therein, forming an S-shape and other shapes, which can make the front end consistent with the direction of the cable to be moved, and the rear end consistent with the direction of the cable, lower the height of the video transmission detection guide, and make the bottom of the video transmission detection guide contact the cable, and the power control system is used to fill the claw cavity located on the outer shell of the flat claw with gas, or to conduct or heat the heating material in part of the liquid therein, and the flat claw begins to contact the cable and slowly wraps the cable to achieve a fixing effect; through the power control The system draws gas into the claw cavity of the second outer shell of the flat claw or cuts off the power or cools the heating material in the liquid in it, and the flat claw gradually moves away from the surface of the cable and reaches a relaxed state; the power control system controls the middle multi-stage gas-liquid mixed multi-chamber structure to fill gas or conduct or heat the heating material in the liquid in it, so that the rear center is lifted and extended upward, and its projection on the cable is relatively consistent, and the height of the flat wrapped claw under the rear center is higher than the cable to be moved; the power control system controls the front and middle multi-stage gas-liquid mixed multi-chamber structure to fill gas or conduct or heat the heating material in the liquid in it, so that the entire robot falls on the cable to be moved and wraps the cable. Wait for the next instruction to be executed.

[0084] β-type replaceable gas-liquid mixing multi-chamber body

[0085] See the instruction manual Figure 17-19The internal cavity of the tube body of the replaceable gas-liquid mixing multi-chamber body is evenly distributed in the radial direction into N chambers 42; the tube body 41 includes a corrugated tube section and a straight tube section, the corrugated tube section is located near both ends of the tube body 41, and the straight tube section is located in the middle of the tube body 41. The thick wall portion 43 and the N chambers 42 can be evenly distributed in a circular array on the cross section of the tube body.

[0086] Go forward: Send the forward command remotely. First, the power control system is used to fill the gas-liquid mixed multi-chamber structure of the flat wrapped claw located below the video transmission detection guide with gas or to conduct or heat the heating material in part of the liquid therein. The flat claw is covered with a shell to prevent it from extending outward. The flat wrapped claw begins to contact the cable and slowly wraps the cable to achieve a fixing effect. Then, the power control system is used to deflate the gas-liquid mixed multi-chamber structure located in the rear center or to disconnect the power and cool the heating material in part of the liquid therein. The flat wrapped claw gradually moves away from the cable surface. Reach a relaxed state. Then, the power control system is used to deflate the gas-liquid mixed multi-chamber structure located in the β-shaped forward extension area and the rear extension area of ​​the replaceable gas-liquid mixed multi-chamber body or to charge or heat the heating material in part of the liquid therein. The wrinkles begin to flatten, the forward extension area and the rear extension area are extended forward, and the robot moves forward a lot. Then. The power control system is used to fill the gas-liquid mixed multi-chamber structure located in the rear center with gas or conduct or heat the heating material in the liquid in it. The flat claw is covered with a shell to prevent it from extending outward, and the flat wrapped claw begins to contact the cable and slowly wraps the cable to achieve a fixing effect. Then the power control system deflates the flat wrapped claw and the gas-liquid mixed chamber in the α-type of the replaceable gas-liquid mixed multi-chamber body in sequence. At this point, a forward cycle is achieved, and it can always be fixed on the cable.

[0087] Turning: When there is a curve, the information such as the curve shape, angle, and the real-time position of the curve relative to the robot is transmitted to the power control module through visual recognition and auxiliary means such as ultra-thin bending sensors, and straight driving is still in execution. According to the bending direction of the curve, the power module fills the gas-liquid mixed chamber located in the front extension area, rear extension area, and central control area with gas or conducts or heats the heating material in part of the liquid in the replaceable gas-liquid mixed multi-chamber body β type 0% to 100%, so that the bends in the left and right directions match the curves, so that it can cope with various types of curves, including S-shaped and other high-difficulty ones.

[0088] Head-up: When a head-up command is received, the cached steps will be executed first, and the final state is that the flat wrapped claw of the rear center will wrap the cable to fix it. Then the remotely sent upward head-up command will be executed, and then the power control system can be used to fill the gas-liquid mixed chamber located in the central control area with a proportion of 0% to 100% with gas, or to conduct electricity or heat the heating material in the liquid inside it, so that it reaches a bent state and can head up. In addition, according to the left and right offset and height adjustment of the command, the gas-liquid mixed chamber located in the lower, left, and right parts with a proportion of 0% to 100% can be filled with gas, or the heating material in part of the liquid can be conducted or heated, so that it can be raised in all directions and at all heights to increase the field of vision. You can see the top, front, back, and bottom, a 360-degree panoramic view.

[0089] Line shifting: After the line shifting command is sent, the power control system fills the gas-liquid mixed multi-chamber structure of the flat wrapped clamp located in the rear center with gas, or conducts or heats the heating material in part of the liquid therein, and the flat clamp outer shell blocks the outward extension. The flat wrapped clamp begins to contact the cable and slowly wraps the cable to achieve a fixing effect. The distance and direction between the two rods and the angle of the straight line between the two cables are determined based on image recognition, and the data results are sent to the power control system. Based on the relevant information received, the gas-liquid mixed multi-chamber combination located in the central control area is controlled to be straight, curved, telescopic, etc., and the shape of the α-shaped direction, length, and size of the replaceable gas-liquid mixed multi-chamber body can be changed, so that the direction of the middle multi-segment end is tangent or approximately tangent to the cable to be moved, and the height can make the flat clamp outer shell higher than the cable, forming various shapes such as S-shaped that can make the front and rear ends relatively consistent with the cable to be moved and the cable where it is located, thereby reducing the video transmission detection guide The power control system controls the gas-liquid mixed multi-chamber structure of the flat wrapped clamping claw located below the rear center to fill gas or conduct electricity or heat the heating material in part of the liquid therein, and the flat clamping claw's outer shell blocks the extension outward, and the flat wrapped clamping claw begins to contact the cable and slowly wraps the cable to achieve a fixed effect; the power control system controls the gas-liquid mixed multi-chamber structure of the flat wrapped clamping claw located below the video transmission detection guide to fill gas or cut off power or cool the heating material in part of the liquid therein, and the flat wrapped clamping claw gradually moves away from the cable surface. Reach a relaxed state; the power control system controls the middle multi-stage gas-liquid mixed multi-chamber structure to fill gas or conduct electricity or heat the heating material in part of the liquid therein, so that the rear center is lifted and extended upward, and its projection on the cable is relatively consistent, and the height of the flat wrapped clamping claw below the rear center is higher than the cable to be moved; the power control system controls the front section and the middle multi-end gas-liquid mixed multi-chamber structure to fill gas or conduct electricity or heat the heating material in part of the liquid therein, so that the entire robot falls on the cable. Waiting for the next step to be executed.

[0090] The energy and power control system performs the same process as the α-type replaceable gas-liquid mixed multi-chamber body in inflating and exhausting the flat claws and the chamber, or conducting heating or power-off cooling of the heating material in part of the liquid therein.

[0091] See the instruction manual Fig.18 The tube wall can also be set to a thick wall part 43 and a thin wall part 44, and the thick wall part 43 and the thin wall part 44 enclose a cavity. When the energy power control system controls the expansion of the chamber, due to the difference in elastic coefficients between the thin wall part 44 and the thick wall part 43, the robot body bends toward the side where the thick wall part is located, thereby achieving the robot's turning, line shifting, and head-up operations.

[0092] γ-type replaceable gas-liquid mixing multi-chamber body

[0093] See the instruction manual Figure 20-21 The replaceable gas-liquid mixed multi-chamber body includes M tubes 41, which are axially arranged in parallel, and the chambers 42 inside the M tubes 41 are independent of each other and are respectively connected to the energy power control system. The replaceable gas-liquid mixed multi-chamber body includes M tubes 41, which are axially arranged in parallel, and the chambers 42 inside the M tubes 41 are independent of each other and are respectively connected to the energy power control system. See the attached manual Fig.21 The replaceable gas-liquid mixing multi-chamber body includes 4 bellows, and all 4 bellows are led out through the buckles at the rear of the pipeline.

[0094] Forward: the claw cavity of the flat claw outer shell 1 is inflated or powered on, and the claw cavity of the flat claw outer shell 2 is deflated or powered off, and the four bellows are deflated or powered off in turn, so that the waveform structure drives the flat claw outer shell 2 to move forward, and then the claw cavity of the flat claw outer shell 2 is inflated or powered on, so that it is tightly fixed with the cable, and then the claw cavity of the flat claw outer shell 1 is deflated or powered off in turn, and the four bellows are inflated or powered on, so that the bellows folds stretch and drive the flat claw of the flat claw outer shell 1 to move forward. A forward cycle ends.

[0095] Turning and line shifting: To achieve line shifting, the robot body needs to be in the shape of "ㄣ". Then it is necessary to control the inflation tube to expand the two bellows on the right or left side. The robot body is bent to the left or right as a whole. At this time, the flat claw of the flat claw outer shell 2 is fixed, and the flat claw of the flat claw outer shell 1 is shifting. Then, deflate or cut off the power, at this time, the flat claw of the flat claw outer shell 1 is fixed, and the flat claw of the flat claw outer shell 2 is shifting, and a cycle ends.

[0096] Head-up: By controlling the expansion of the two bellows cavities below, the entire robot body bulges downward. Since the flat claw feet of the flat claw outer shell 2 are fixed at this time, the flat claw of the flat claw outer shell 1 is lifted upward to achieve the head-up operation. In addition, according to the left and right offset and height adjustment of the command, the chambers of the replaceable gas-liquid mixed multi-chamber body located in the lower, left and right parts can be filled with gas or the heating material in the liquid in them can be conducted or heated, so that it can achieve a 360-degree head-up operation.

[0097] δ-type replaceable gas-liquid mixing multi-chamber body

[0098] See the instruction manual Figure 22-24 There are many cavities, each of which is divided into Q independent air cavities 47 along the axial direction of the tube body, and each of which is connected to the energy power control system, and the tube body has a smooth surface. Each air cavity is a fan-shaped cavity, and ventilation tubes or electrical wires are inserted into all the fan-shaped cavities and gathered outside the tube body.

[0099] The control method of the δ-type replaceable gas-liquid mixed multi-chamber body is the same as that of the α-type replaceable gas-liquid mixed multi-chamber body. It can be divided into the front section, the middle multi-end, and the rear section. The gas-liquid mixed chamber located at the top is fully inflated and will expand, and the outer layer of the gas-liquid mixed chamber is very thin, so the upper part expands more significantly to achieve bending. When changing the line, the control system can control the chambers in groups according to the situation, and decide how to group them according to the feedback information, so as to achieve various shapes of bending, so as to achieve turning, changing the line and other actions that require complex bending.

[0100] ε-type replaceable gas-liquid mixing multi-chamber body

[0101] See the instruction manual Figure 25-26 Each chamber is divided into Q independent air chambers 47 along the axial direction of the tube body, and each is connected to the energy power control system. The tube body is set as Q layers of annular surfaces according to the Q independent air chambers 47, and each layer of annular surfaces is connected through the middle part of the tube body.

[0102] The control method of the ε-type replaceable gas-liquid hybrid multi-chamber body is the same as that of the δ-type replaceable gas-liquid hybrid multi-chamber body. The difference between this and the δ-type replaceable gas-liquid hybrid multi-chamber body is that the bending is achieved by squeezing. After inflation, they all expand, but squeeze each other, thereby achieving bending.

[0103] The five types of chambers of the replaceable gas-liquid mixed multi-chamber body can also implement obstacle crossing operations. To achieve obstacle crossing operations, the most important thing is to lift the head, select the landing point of the head, change the left and right bending shape of the tube body, and then fall down. Obstacle crossing without changing the line is the same as raising the head. The difference is that the landing point is selected autonomously according to the information sent back by the sensor, just crossing the obstacle. In the case of complete blockage on the obstacle line, it will be like changing the line, changing different cables to fall, and the landing point can be any structure with an outer diameter that meets the requirements of being stuck in the claws, and the outer diameter can be smaller than the left and right covering software. The covering software in the claws expands and contacts the landing point to clamp it.

[0104] The five types of chambers of the replaceable gas-liquid mixing multi-chamber body are also applicable to an embodiment, such as Figure 27-28 As shown, the tube body and tube wall include soft material parts with different elastic coefficients, a soft material with an elastic coefficient represented by the hard ring 45, and a soft material with an elastic coefficient represented by the tube wall elastic body 46, wherein the elastic coefficient of the hard ring 45 is lower than the elastic coefficient of the tube wall elastic body 46, and the hard ring 45 is easier to stretch. The hard ring 45 is embedded in the tube wall elastic body 46 in a segmented annular distribution, wherein the hard ring 46 with a larger elastic coefficient can suppress the axial elongation of the tube body and help the radial expansion of the tube body when it is deformed. The function of the hard ring 45 includes separating a number of independent chambers, and a hard ring 45 is also arranged around the tube wall elastic body 46 on the outer side of the chamber, which can suppress the elongation to the circumferential outside when inflated. And the elongation along the axial direction is guaranteed, so the elongation in the axial direction is greater than the elongation in the circumferential outside, and it is also more obvious. But the difference is that they are only different in material properties due to different ratios, so they are completely glued together, that is, integrally formed.

[0105] At the same time, it can also be expanded to include a combination of at least two different properties to achieve such a purpose. Because the hard ring 45 can assist in increasing the bending effect, it can be used as a separate solution or can be dependent on other solutions that require bending.

[0106] The control process of the above five replaceable gas-liquid mixed multi-chamber bodies is not limited to the control process of inflation and deflation, but also includes the control process of conducting or heating the heating material of the liquid in the chamber, controlling the evaporation of the liquid, and causing the chamber to expand.

[0107] The specific process of using the gas-liquid hybrid inspection robot provided by the present invention to perform line inspection is as follows:

[0108] (1) The 3D-printed flat claw outer shell 1 and flat claw outer shell 2 are adjusted according to the shape of the underground cable pipeline, so that the claw cavity can grasp the cable when a small amount of pressurized gas is introduced, so that the robot will not slip out of the pipeline when it is in a stationary state;

[0109] (2) A distributed air pressure control system for a power control device, including a plurality of electromagnetic reversing valves connected to an air storage device. The electromagnetic reversing valves can be connected to a chamber or cavity through a pressure regulating valve. Some electromagnetic reversing valves also have a pressure regulating function. Through the electromagnetic reversing valves, a proper amount of pressurized gas is introduced into the claw cavity and the chamber of the replaceable gas-liquid mixed multi-chamber body, or the heating material in part of the liquid is conducted or heated. The pressure of the gas can be adjusted through the pressure regulating valve. The time of filling and pumping gas, as well as the time of power on and off, can be controlled by PID through the distributed air pressure control system to increase safety and stability;

[0110] (3) The product is placed on the underground cable pipeline, and the pressure of the gas in the claw cavity and the replaceable gas-liquid mixed multi-chamber body is controlled by the electromagnetic reversing valve to realize the expansion and contraction of the pneumatic muscles of each part, so as to smoothly realize operations such as straight driving, turning, raising the head, and changing the line.

[0111] (4) In order to better achieve the effect of the product, when the product encounters different underground cable ducts, the replaceable gas-liquid hybrid multi-chamber body can be replaced according to the actual situation so that the movement of the gas-liquid hybrid robot can be better controlled during line inspection.

[0112] The above is a detailed introduction to a gas-liquid hybrid inspection robot provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for general technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0113] In this article, relational terms such as first and second, etc. are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A gas-liquid hybrid inspection robot, characterized in that: It includes a video transmission detection guide, a flat claw outer shell, a Y-axis steering device, a replaceable gas-liquid mixing multi-chamber body, a Y-axis steering device, a flat claw outer shell, and a tail shell connected in sequence; The video transmission detection guide is provided with a video information acquisition system; The flat claw outer shell 1 and the flat claw outer shell 2 both include a pair of flat claws symmetrically arranged at the bottom, a covering soft body is provided inside the flat claws, and a claw cavity is formed inside the covering soft body; The Y-axis steering gear 1 is rotatably connected to the flat claw outer shell 1, and the Y-axis steering gear 2 is rotatably connected to the flat claw outer shell 2; The flat claw outer shell includes a π-shaped plate arranged inside, the π-shaped plate includes a horizontal plate, and two vertical rods are symmetrically and vertically arranged on the horizontal plate; the Y-axis steering device is connected to the replaceable gas-liquid mixed multi-chamber body at the first end, and the Y-axis steering device is provided with a steering rod at the second end, and a horizontal shaft hole is provided on the steering rod. The steering rod is placed between the two vertical rods, and the shaft is inserted into the shaft hole on the vertical rod and the horizontal shaft hole on the steering rod through the rotating shaft, so as to realize the rotation of the Y-axis steering device relative to the flat claw outer shell along the Y-axis direction; The replaceable gas-liquid mixed multi-chamber body comprises a tube body, and the tube body is made of elastic material, and the internal cavity is provided with N chambers along different radial directions, the chambers are filled with gas and / or liquid, and the liquid is provided with a controllable heating substance; An energy power control system is arranged inside the second flat claw outer shell, and the claw cavity and the chamber are both communicated and / or connected with the energy power control system.

2. The gas-liquid hybrid inspection robot according to claim 1, characterized in that: The video information acquisition system includes a lighting device and a camera. A battery is also provided in the video transmission detection guide. The lighting device and the camera are both connected to the battery.

3. The gas-liquid hybrid inspection robot according to claim 1, characterized in that: The energy power control system comprises an air storage device and a power control device, and the claw cavity and the chamber are both connected to the air storage device through the power control device.

4. The gas-liquid hybrid inspection robot according to claim 1, characterized in that: The two ends of the replaceable gas-liquid mixing multi-chamber body are respectively detachably connected to the Y-axis steering device 1 and the Y-axis steering device 2.

5. A gas-liquid hybrid inspection robot according to claim 1 or 3, characterized in that: The internal cavity of the tube body of the replaceable gas-liquid mixing multi-chamber body is evenly distributed in the radial direction into N chambers; the tube body as a whole is a bellows, or the tube body includes a bellows section and a straight tube section, the bellows section is located near the two ends of the tube body, and the straight tube section is located in the middle of the tube body.

6. The gas-liquid hybrid inspection robot according to claim 5, characterized in that: The tube body wall includes a thick-walled portion and a thin-walled portion, and the thick-walled portion and the thin-walled portion surround the cavity; or, the tube body wall includes soft material portions with different elastic coefficients, and the soft material portions with different elastic coefficients surround the cavity.

7. The gas-liquid hybrid inspection robot according to claim 5, characterized in that: The replaceable gas-liquid mixed multi-chamber body includes M tube bodies, the M tube bodies are axially arranged in parallel, the chambers inside the M tube bodies are independent of each other, and are respectively communicated / connected to the energy power control system.

8. The gas-liquid hybrid inspection robot according to claim 5, characterized in that: Each of the chambers is divided into Q independent air cavities along the axial direction of the tube body, and are respectively communicated / connected to the energy power control system.

9. The gas-liquid hybrid inspection robot according to claim 8, characterized in that: The tube body has a smooth surface; or the tube body is configured as Q layers of annular surfaces according to the Q independent air cavities, and each layer of annular surfaces is connected through the middle part of the tube body.

10. The gas-liquid hybrid inspection robot according to claim 1, characterized in that: The ratio of liquid in the replaceable gas-liquid mixed multi-chamber body to the entire cavity is 0-1; and the controllable heating material includes a resistor.

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