Pipeline robot walking structure, pipeline robot and driving method thereof

Abstract

The present application discloses a pipeline robot walking structure, a pipeline robot and a driving method thereof. The pipeline robot walking structure includes a track, a moving submodule, a walking module, an air source device and at least one air supply station. The moving submodule can be slidably arranged in a walking cavity. The walking module can be slidably arranged on the track and is magnetically coupled with the moving submodule. The air source device is connected to a first air port and a second air port. When the air source device supplies air to the walking cavity through one of the first air port and the second air port, and draws air from the walking cavity through the other of the first air port and the second air port, the moving submodule can be driven to move in the walking cavity, thereby driving the walking module to move synchronously, wherein the air supply station is used to compensate power for the moving submodule so that the moving submodule can continue to walk. The technical solution provided by the present application can solve the problem that the existing pipeline robot is inconvenient to use in special pipeline environments.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline robots, and in particular to a pipeline robot walking structure, a pipeline robot and a driving method thereof. Background Art

[0002] At present, the operation requirements of pipeline robots in special pipeline environments such as coal mines, oil wells, and flammable and explosive scenes are very strict, and the environment inside the pipeline is relatively harsh.

[0003] Existing pipeline robots are electrically driven and are prone to cause safety accidents if used in special pipeline environments. Summary of the invention

[0004] The present application provides a pipeline robot walking structure, a pipeline robot and a driving method thereof, which can solve the problem that existing pipeline robots are inconvenient to use in special pipeline environments.

[0005] In the first aspect, the present application provides a pipeline robot walking structure. The pipeline robot walking structure includes a track, a moving submodule, a walking module, an air source device, and at least one air supply station. A walking cavity is formed inside the track, and the track is formed with a first air port and a second air port connected to the walking cavity, and the first air port and the second air port are respectively located at both ends of the walking cavity. The moving submodule is slidably arranged in the walking cavity. The walking module is slidably arranged on the track and located outside the walking cavity, and the walking module is magnetically coupled with the moving submodule. The air source device connects the first air port and the second air port. When the air source device supplies air to the walking cavity through one of the first air port and the second air port, and extracts air from the walking cavity through the other of the first air port and the second air port, the moving submodule can be driven to move in the walking cavity, thereby driving the walking module to move synchronously. At least one air supply station is located between the first air port and the second air port, and each air supply station connects the air source device and the walking cavity to supply and extract air to the walking cavity.

[0006] In the above scheme, a pipeline robot walking structure that can be safely used in special pipeline environments (flammable and explosive scenarios) is provided. The track is arranged in a special pipeline, and the gas source device connects the first gas port and the second gas port to perform gas supply and exhaust operations on the walking cavity inside the track, and the moving submodule moves in the walking cavity with the airflow. Since the moving submodule is magnetically coupled with the walking module, the walking module can follow the moving submodule to walk along the track, and the camera module is installed on the walking module, and the camera module can move with the walking module in the special pipeline to obtain images in the pipeline. Among them, when it is necessary to move the walking module in the direction from the first gas port to the second gas port, the gas source device transports gas from the first gas port to the walking cavity, and extracts the gas in the walking cavity from the second gas port, so that the airflow flows in the direction from the first gas port to the second gas port, so that the moving submodule can be pushed by the airflow. When it is necessary to move the walking module from the second air port to the first air port, the air source device extracts the gas in the walking cavity from the first air port, and delivers gas to the walking cavity from the second air port, so that the airflow flows from the second air port to the first air port, thereby pushing the moving submodule through the airflow. The walking module is driven by pneumatics combined with magnetic coupling. For this reason, the walking module can move safely in a special pipeline without causing safety accidents. Among them, due to the excessive length of the track, insufficient power occurs, and an air supply station is designed. When the moving submodule is walking in the walking cavity and passes through one of the air supply stations, the air supply station will deliver gas to the walking cavity, thereby continuously providing power. At the same time, the remaining air supply stations located in front of the moving submodule can draw air from the walking cavity to increase the pressure difference in the walking cavity, so that the moving submodule has sufficient power to move.

[0007] Optionally, in a possible implementation, the gas source device includes a gas storage tank, a main gas station, a gas pipe, and a secondary gas station;

[0008] The main gas station is connected to the gas storage tank, and the auxiliary gas station is connected to the gas storage tank through a gas pipe;

[0009] The main gas station is connected to the first gas port, and has a first state of supplying gas to the first gas port, and a second state of extracting gas from the first gas port;

[0010] The auxiliary gas station is connected to the second gas port, and has a third state of extracting gas from the second gas port, and a fourth state of supplying gas to the second gas port.

[0011] Optionally, in a possible implementation, both the main gas station and the auxiliary gas station include an air pump.

[0012] Optionally, in a possible implementation, both the main gas station and the auxiliary gas station include a gas pressure gauge.

[0013] Optionally, in a possible implementation, the pipeline robot walking mechanism further includes a control terminal, and the control terminal is used to control the gas source device and the gas replenishment station.

[0014] Optionally, in a possible implementation, the walking module is provided with a meter, and the meter is used to calculate the distance moved by the walking module.

[0015] Optionally, in a possible implementation, the walking module is provided with an electronic tag, and sensors for sensing the electronic tag are provided at intervals on the track.

[0016] In a second aspect, the present application provides a pipeline robot, which includes a camera module and the pipeline robot walking structure provided in the first aspect, and the camera module is arranged in the walking module.

[0017] In a third aspect, the present application provides a driving method for a pipeline robot, the method comprising:

[0018] A pipeline robot walking structure is provided, the pipeline robot walking structure includes a track, a moving submodule, a walking module and an air source device, a walking cavity is formed inside the track, the track is formed with a first air port and a second air port connected to the walking cavity, the moving submodule is slidably arranged in the walking cavity, the walking module can be slidably arranged on the track and is magnetically coupled with the moving submodule, the air source device is connected to the first air port and the second air port, when the air source device supplies air to the walking cavity through one of the first air port and the second air port, and extracts air from the walking cavity through the other of the first air port and the second air port, the moving submodule can be driven to move in the walking cavity, thereby driving the walking module to move synchronously, at least one air supply station is located between the first air port and the second air port, and each air supply station is connected to the air source device and the walking cavity to supply and extract air to the walking cavity;

[0019] The mover module is arranged inside the track;

[0020] The air source device is started to supply air to the walking cavity through one of the first air port and the second air port, and air is extracted from the walking cavity through the other of the first air port and the second air port;

[0021] When the mover module moves to one of the at least one air supply station, the air supply station changes from a state of extracting air from the travel cavity to a state of delivering gas to the travel cavity, so as to drive the mover module to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] 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.

[0023] Figure 1 Schematic diagram of the structure of a pipeline robot in this embodiment.

[0024] Icons: 10- pipeline robot; 10a- pipeline robot walking structure; 10b- camera module; 11- track; 12- mover module; 13- walking module; 14- air source device; 90- walking cavity; 91- first air port; 92- second air port; 140- air storage tank; 141- main air station; 142- auxiliary air station; 143- air pipe; 144- air supply station. DETAILED DESCRIPTION

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0032] This embodiment provides a pipeline robot 10, which can solve the problem that the existing pipeline robot 10 is inconvenient to use in special pipeline environments.

[0033] See also Figure 1 , Figure 1 The specific structure of the pipeline robot 10 is shown.

[0034] The pipeline robot 10 includes a camera module 10b and a pipeline robot walking structure 10a.

[0035] The pipeline robot walking structure 10 a includes a track 11 , a mover module 12 , a walking module 13 , an air source device 14 and at least one air supply station 144 .

[0036] A running cavity 90 is formed inside the track 11, and a first air port 91 and a second air port 92 are formed on the track 11 to communicate with the running cavity 90. The first air port 91 and the second air port 92 are located at two ends of the running cavity 90, respectively.

[0037] The mover module 12 is slidably disposed in the travel cavity 90 .

[0038] The walking module 13 is slidably disposed on the track 11 and is located outside the walking cavity 90. The walking module 13 is magnetically coupled to the mover module 12. The air source device 14 is connected to the first air port 91 and the second air port 92. When the air source device 14 supplies air to the walking cavity 90 through one of the first air port 91 and the second air port 92 and draws air from the walking cavity 90 through the other of the first air port 91 and the second air port 92, the mover module 12 can be driven to move in the walking cavity 90, thereby driving the walking module 13 to move synchronously.

[0039] In order to ensure that the mover module 12 has sufficient power, all the gas supply stations 144 are located between the first gas port 91 and the second gas port 92, and each of the gas supply stations 144 is connected to the gas source device 14 and the walking cavity 90 to supply and extract gas to the walking cavity 90. The gas supply station 144 can deliver gas from the gas source device 14 to the walking cavity 90, and can extract gas from the walking cavity 90 and deliver it to the gas source device 14.

[0040] The camera module 10 b is provided on the traveling module 13 .

[0041] Among them, in the above-mentioned embodiment, a pipeline robot 10 is provided which can be safely used in special pipeline environments (flammable and explosive scenarios).

[0042] The track 11 is arranged in a special pipe, and the gas source device 14 is connected to the first gas port 91 and the second gas port 92 to deliver gas to and extract gas from the walking cavity 90 inside the track 11, and the moving submodule 12 moves in the walking cavity 90 along the flow direction of the airflow. Since the moving submodule 12 is magnetically coupled with the walking module 13, the walking module 13 can follow the moving submodule 12 to walk along the track 11, and the camera module 10b is installed on the walking module 13, and the camera module 10b can move in the special pipe with the walking module 13, thereby acquiring images in the special pipe.

[0043] Among them, when it is necessary to move the walking module 13 in the direction from the first air port 91 to the second air port 92, the air source device 14 delivers gas to the first air port 91, and extracts the gas in the walking cavity 90 from the second air port 92, so that the airflow flows in the direction from the first air port 91 to the second air port 92, so that the moving submodule 12 can be pushed by the airflow. When it is necessary to move the walking module 13 in the direction from the second air port 92 to the first air port 91, the air source device 14 extracts the gas in the walking cavity 90 from the first air port 91, and outputs the gas to the second air port 92, so that the airflow flows in the direction from the second air port 92 to the first air port 91, so that the moving submodule 12 can be pushed by the airflow. The walking module 13 is driven by a pneumatic combined with magnetic coupling drive mode. For this reason, the walking module 13 can move safely in a special pipeline without causing safety accidents.

[0044] It should be noted that, when performing pipeline inspection, the track 11 may be too long, that is, the travel cavity 90 is too long, resulting in insufficient air pressure generated by the gas entering and exiting the travel cavity 90 from the first air port 91 and the second air port 92, thereby resulting in insufficient sliding power of the mover module 12. For this reason, Figure 1In order to improve the endurance of the walking module 13, the air source device 14 includes at least one air supply station 144, which is arranged at intervals on the track 11 and connected to the walking cavity 90, and is located between the first air port 91 and the second air port 92. The air supply station 144 is connected to the air pipe 143, and the air supply station 144 is used to supply and extract air to the walking cavity 90.

[0045] When passing through one of the air supply stations 144, the air supply station 144 will transport gas into the walking cavity 90, thereby continuously providing power. At the same time, the remaining air supply stations 144 located in front of the moving submodule 12 can draw air from the walking cavity to increase the pressure difference in the walking cavity, so that the moving submodule 12 has sufficient power to move.

[0046] The gas supply station 144 includes an air pump, through which gas transmission and gas extraction are achieved.

[0047] In the above solution, air is supplied and extracted to the walking cavity 90 through the air supply station 144, so that there is enough power in the walking cavity 90 to make the walking module 13 slide.

[0048] It should be noted that the mover module 12 is provided with a first strong magnet, the travel module 13 has a second strong magnet, and the first strong magnet and the second strong magnet are magnetically coupled.

[0049] The gas source device 14 includes a gas storage tank 140 , a main gas station 141 , a gas pipe 143 and a secondary gas station 142 .

[0050] The main gas station 141 is connected to the gas storage tank 140 , and the auxiliary gas station 142 is connected to the gas storage tank 140 through the gas pipe 143 .

[0051] The main gas station 141 is connected to the first gas port 91 . The main gas station 141 has a first state of supplying gas to the first gas port 91 and a second state of extracting gas from the first gas port 91 .

[0052] The auxiliary gas station 142 is connected to the second gas port 92 , and has a third state of extracting gas from the second gas port 92 and a fourth state of supplying gas to the second gas port 92 .

[0053] It should be noted that, in a possible implementation, the pipeline robot walking structure 10a also includes a control terminal, and the main gas station 141 and the auxiliary gas station 142 can be controlled by the control terminal to adjust their working states. In other specific embodiments, the working states of the main gas station 141 and the auxiliary gas station 142 can also be manually adjusted, that is, switching between gas transmission and gas extraction.

[0054] Among them, in one case, the mover module 12 is located near the first air port 91, and at this time, the walking module 13 needs to be moved to the second air port 92. The control terminal adjusts the main air station 141 to the first state, and adjusts the auxiliary air station 142 to the third state. At this time, the airflow in the walking cavity 90 flows from the first air port 91 to the second air port 92. For this purpose, the mover module 12 can be pushed to slide toward the second air port 92, so that the walking module 13 moves to the second air port 92. Similarly, when it is necessary to move the walking module 13 from the second air port 92 to the first air port 91, the main air station 141 is adjusted to the second state, and the auxiliary air station 142 is adjusted to the fourth state by the control terminal, so that the movement of the walking module 13 can be achieved.

[0055] Among them, the main gas station 141 and the auxiliary gas station 142 both include an air pump, that is, the gas storage tank 140 stores gas, and the air pump is used to transmit or extract gas to the first gas port 91 and the second gas port 92, thereby ensuring the walking and recovery of the walking module 13.

[0056] Optionally, in a possible implementation, both the main gas station 141 and the auxiliary gas station 142 include a pressure gauge, and the pressure gauge is used to monitor the air pressure of the first gas port 91 and the second gas port 92 .

[0057] It should be noted that, in one case, the length of the track 11 is 100 meters, the number of the gas supply stations 144 is three, and the main gas station 141, the gas supply station 144 and the auxiliary gas station 142 are spaced 25 meters apart.

[0058] Taking the moving submodule 12 moving from the first air port 91 to the second air port 92 as the detection stroke, and taking the moving submodule 12 returning from the second air port 92 to the first air port 91 as the return stroke as an example, the operation modes of the main air station 141, the air supply station 144 and the auxiliary air station 142 are as follows:

[0059] Detection stroke: the main gas station 141 supplies gas to the walking cavity 90 (i.e., the first state), the three gas supply stations 144 and the auxiliary gas station 142 all draw gas from the walking cavity 90, the mover module 12 moves in the walking cavity 90, and drives the walking module 13 to move through magnetic coupling;

[0060] When the moving module 12 runs 25 meters to the first gas supply station 144, the first gas supply station 144 delivers gas to the walking cavity 90 to supplement the power of the walking module 13;

[0061] When the moving module 12 runs 50 meters to the second gas supply station 144, the second gas supply station 144 delivers gas to the walking cavity 90 to supplement the power of the walking module 13;

[0062] When the moving submodule 12 runs 70 meters to the third gas supply station 144, the third gas supply station 144 delivers gas to the walking cavity 90 to supplement the power of the walking module 13, so that the walking module 13 has enough power to move to the second gas port 92 to complete the detection journey;

[0063] At this time, a return trip is required: the auxiliary gas station 142 supplies gas to the walking cavity 90 (i.e., the fourth state), the three gas supply stations 144 and the main gas station 141 all draw gas from the walking cavity 90, the mover module 12 moves in the walking cavity 90, and drives the walking module 13 to move through magnetic coupling;

[0064] Then, each time the vehicle passes through a gas replenishing station 144, the gas replenishing station 144 changes from a gas extraction state to a gas delivery state, and finally the vehicle completes the return voyage.

[0065] It should be noted that a meter is provided in the walking module 13, which is used to calculate the distance moved by the walking module 13, so that the control terminal can accurately adjust the gas supply and extraction status of the main gas station 141, the gas supply station 144 and the auxiliary gas station 142.

[0066] It should be noted that in other embodiments, the walking module 13 is provided with an electronic tag to replace the meter, and sensors for sensing the electronic tags are provided at intervals on the track 11. When the walking module 13 passes through the sensor, the distance traveled by the walking module 13 can be determined.

[0067] It should be noted that, in the present embodiment, the mover module 12 is driven by air pressure. In other specific embodiments, the mover module 12 can also be driven by hydraulic pressure. The air source device 14 can be adjusted to a water source device to provide a power medium for the pipeline robot walking structure 10a.

[0068] It should be noted that this embodiment also provides a driving method for a pipeline robot, and the method is:

[0069] Providing a pipeline robot walking structure 10a;

[0070] The mover module 12 is arranged inside the track 11;

[0071] The air source device 14 is started to supply air to the travel cavity 90 through one of the first air port 91 and the second air port 92, and air is extracted from the travel cavity 90 through the other of the first air port 91 and the second air port 92;

[0072] The air supply station 144 draws air from the walking cavity 90;

[0073] When the mover module 12 moves to one of the multiple gas supply stations 144, the gas supply station 144 changes from a state of extracting gas from the walking cavity 90 to a state of supplying gas to the walking cavity 90 to compensate power for the mover module 12, thereby driving the mover module 12 to move.

[0074] 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 walking structure, characterized in that: include: A track, wherein a travel cavity is formed inside the track, and the track is formed with a first air port and a second air port connected to the travel cavity, wherein the first air port and the second air port are respectively located at two ends of the travel cavity; A mover module, wherein the mover module is slidably disposed in the walking cavity; A walking module, the walking module is slidably disposed on the track and is located outside the walking cavity, and the walking module is magnetically coupled to the mover module; an air source device, the air source device is connected to the first air port and the second air port, when the air source device supplies air to the walking cavity through one of the first air port and the second air port, and extracts air from the walking cavity through the other of the first air port and the second air port, the mover module can be driven to move in the walking cavity, thereby driving the walking module to move synchronously, the air source device includes an air storage tank, a main air station, an air pipe and an auxiliary air station; The main gas station is connected to the gas storage tank, and the auxiliary gas station is connected to the gas storage tank through a gas pipe; The main gas station is connected to the first gas port, and the main gas station has a first state of supplying gas to the first gas port, and a second state of extracting gas from the first gas port; The auxiliary gas station is connected to the second gas port, and the auxiliary gas station has a third state of extracting gas from the second gas port, and a fourth state of supplying gas to the second gas port; as well as At least one gas supply station, the at least one gas supply station is located between the first gas port and the second gas port, each of the gas supply stations is connected to the gas source device and the walking cavity to supply gas to and extract gas from the walking cavity; A control terminal, the control terminal is used to control the gas source device and the gas supply station; A meter, the meter is used to calculate the distance moved by the walking module, so that the control terminal can accurately adjust the gas supply and extraction status of the main gas station, the gas supply station and the auxiliary gas station; Among them, when it is known through the meter that the movable sub-module moves to one of the multiple air supply stations, the one of the air supply stations changes from a state of extracting air from the walking cavity to a state of supplying gas to the walking cavity, so as to compensate power for the movable sub-module, thereby driving the movable sub-module to move.

2. The pipeline robot walking structure according to claim 1, characterized in that: The main gas station and the auxiliary gas station both include an air pump.

3. The pipeline robot walking structure according to claim 2, characterized in that: The main gas station and the auxiliary gas station both include a gas pressure gauge.

4. The pipeline robot walking structure according to claim 1, characterized in that: The walking module is provided with an electronic tag, and the track is provided with a sensor for sensing the electronic tag at intervals.

5. The pipeline robot walking structure according to claim 1, characterized in that: The mover module is provided with a first strong magnet, the walking module has a second strong magnet, and the first strong magnet and the second strong magnet are magnetically coupled.

6. A pipeline robot, characterized in that: include: Camera module; as well as The pipeline robot walking structure according to any one of claims 1 to 5, wherein the camera module is arranged on the walking module.

7. A driving method for a pipeline robot, characterized in that: The method comprises: A pipeline robot walking structure is provided, the pipeline robot walking structure includes a track, a moving submodule, a walking module, an air source device, at least one air supply station, a control terminal and a meter, a walking cavity is formed inside the track, the track is formed with a first air port and a second air port connected to the walking cavity, the moving submodule is slidably arranged in the walking cavity, the walking module can be slidably arranged on the track and is magnetically coupled with the moving submodule, the air source device connects the first air port and the second air port, when the air source device supplies air to the walking cavity through one of the first air port and the second air port, and extracts air from the walking cavity through the other of the first air port and the second air port, the moving submodule can be driven to move in the walking cavity, thereby driving the walking module to move synchronously, the air source device includes an air storage tank, a main air station, an air pipe and an auxiliary air station. station; the main gas station is connected to the gas storage tank, and the auxiliary gas station is connected to the gas storage tank through an air pipe; the main gas station is connected to the first gas port, and the main gas station has a first state of supplying gas to the first gas port, and a second state of extracting gas from the first gas port; the auxiliary gas station is connected to the second gas port, and the auxiliary gas station has a third state of extracting gas from the second gas port, and a fourth state of supplying gas to the second gas port, the at least one gas replenishment station is located between the first gas port and the second gas port, each of the gas replenishment stations is connected to the gas source device and the walking cavity to supply and extract gas to the walking cavity, and the control terminal is used to control the gas source device and the gas replenishment station; the meter is used to calculate the distance moved by the walking module, so that the control terminal can accurately adjust the gas supply and extraction states of the main gas station, the gas replenishment station and the auxiliary gas station; The mover module is arranged inside the track; Start the air source device to supply air to the walking cavity through one of the first air port and the second air port, and extract air from the walking cavity through the other of the first air port and the second air port; When it is known through the meter that the movable submodule moves to one of the multiple air supply stations, the one of the air supply stations changes from a state of extracting air from the walking cavity to a state of supplying gas to the walking cavity, so as to compensate power for the movable submodule, thereby driving the movable submodule to move.

Images