A pipeline robot with self-adaptive pipe diameter

Abstract

The present invention provides a pipe diameter adaptive pipeline robot, comprising: an active driving module, which is used for actively moving in a pipeline, and has an active driving base, two active wheels arranged at the bottom of the active driving base, a motor arranged in the active driving base, and a first unfolding support arranged on the active driving base; a connecting base, the bottom of which is connected to the active driving base through a first rotating shaft; a driven module, which is used for following the active driving module to move, and has a driven driving base connected to the bottom of the connecting base through a second rotating shaft, two driven wheels arranged at the bottom of the driven driving base, a battery arranged in the driven driving base, and a second unfolding support arranged on the driven driving base; and an unfolding module, which is used for making the active wheel and the driven wheel move in contact with the inner wall of the pipeline, and comprises a first guide rod arranged between the first unfolding support and the top of the connecting base, and a second guide rod arranged between the second unfolding support and the top of the connecting base.

Description

Technical Field

[0001] The invention relates to a pipeline robot, in particular to a pipeline robot with self-adaptive pipe diameter. Background Art

[0002] Traditional pipeline robots have low adaptability to changes in pipeline diameters, and usually a pipeline robot can only operate in pipelines of a specific diameter. Even if there is a pipeline robot that can adapt to the pipe diameter, its adaptability to the pipe diameter is limited and the cost is high. Therefore, these shortcomings limit the occasions where the pipeline robot can be used. Nowadays, the utilization rate of pipelines is very high, and the pipe diameters of pipelines used in different occasions are also different. If each pipeline with different diameters requires a specific pipeline robot, the cost of pipeline detection is too high and the utilization rate of the pipeline robot is low. In order to reduce the cost of pipeline detection technology and increase the scope of application of pipeline robots, designing a pipeline robot that can adapt to larger diameter changes is a more effective and direct way. Summary of the invention

[0003] The present invention is made to solve the above-mentioned problem, and its purpose is to provide a pipeline robot with self-adaptive pipe diameter.

[0004] The present invention provides a pipe diameter adaptive pipeline robot, which has the following characteristics, including: an active driving module, which is used for actively moving in a pipeline, and has an active driving base, two active wheels arranged at the bottom of the active driving base, a motor arranged in the active driving base, and a first unfolding support arranged on the active driving base; a connecting base, the bottom of which is connected to the active driving base through a first rotating shaft; a driven module, which is used for following the active driving module to move, and has a driven driving base connected to the bottom of the connecting base through a second rotating shaft, two driven wheels arranged at the bottom of the driven driving base, a battery arranged in the driven driving base, and a second unfolding support arranged on the driven driving base; an unfolding module, which is used for making the active wheel and the driven wheel move in contact with the inner wall of the pipeline, and includes a first guide rod arranged between the first unfolding support and the top of the connecting base, and a second guide rod arranged between the second unfolding support and the top of the connecting base, wherein the battery is electrically connected to the motor for power supply, and when the active driving module rotates relative to the connecting base around the first rotating shaft, the first guide rod also rotates by the same angle, and when the driven module rotates relative to the connecting base around the second rotating shaft, the second guide rod also rotates by the same angle.

[0005] The pipe diameter adaptive pipeline robot provided by the present invention may also have the following features: the output rod of the motor is connected to the motor gear, a driving gear meshing with the motor gear is provided on the inner side of a driving wheel, and the motor drives the driving wheel to rotate through gear transmission.

[0006] The pipe diameter adaptive pipeline robot provided by the present invention may also have the following features: wherein, the first guide rod and the second guide rod are respectively located on both sides of the connecting seat, and the first guide rod and the second guide rod are both provided with compression springs. When the active driving module and the driven module rotate relative to the connecting seat, the elastic potential energy provided by the compression spring enables the active wheel and the driven wheel to maintain contact with the inner wall of the pipeline and move.

[0007] The pipe diameter adaptive pipeline robot provided by the present invention may also have the following feature: a torsion angle is provided between the connecting seat and the axes of the first rotating shaft and the second rotating shaft, and the torsion angle enables the pipe diameter adaptive pipeline robot to advance in a spiral in the pipeline.

[0008] Functions and Effects of the Invention

[0009] According to the pipe diameter adaptive pipeline robot involved in the present invention, since compression springs are provided in the two guide rods of the unfolding module, the pipe diameter adaptive pipeline robot can be passively unfolded when the pipe diameter adaptive pipeline robot moves, and the elastic potential of the compression springs makes the driving wheel and the driven wheel always stick to the inner wall of the pipeline and generate positive pressure on the inner wall of the pipeline, thereby ensuring the stable movement of the robot; since a torsion angle is provided between the connecting seat and the axes of the first rotating shaft and the second rotating shaft, the pipe diameter adaptive pipeline robot can be spirally advanced in the pipeline through the torsion angle, ensuring that the robot will not rotate around the pipe wall in situ, and the spiral advancement can adapt to larger diameter changes of the pipeline, and has a wider range of applications; since the motor and a driving wheel are connected by gear transmission, the transmission structure is more compact and the transmission efficiency is higher, which can reduce the volume of components while ensuring stable and reliable operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is an overall structural diagram of a pipe diameter adaptive pipeline robot in an embodiment of the present invention;

[0011] Figure 2 is an exploded view of the overall structure of the pipe diameter adaptive pipeline robot in an embodiment of the present invention;

[0012] Figure 3 3 are three views of the pipe diameter adaptive pipeline robot in an embodiment of the present invention;

[0013] Figure 4 is a schematic diagram comparing the setting of the torsion angle and the setting of the torsion angle under simplified modeling in an embodiment of the present invention;

[0014] Figure 5 It is a schematic diagram of simplified modeling of an expansion module in an embodiment of the present invention. DETAILED DESCRIPTION

[0015] In order to make the technical means and effects achieved by the present invention easier to understand, the present invention is described in detail below in conjunction with embodiments and drawings.

[0016] Figure 1 is an overall structural diagram of a pipe diameter adaptive pipeline robot in an embodiment of the present invention, Figure 2 is an exploded view of the overall structure of the pipe diameter adaptive pipeline robot in an embodiment of the present invention, Figure 3 3D is a three-view diagram of the pipe diameter adaptive pipeline robot in an embodiment of the present invention.

[0017] like Figure 1-Figure 3 As shown, the pipe diameter adaptive pipeline robot 100 of this embodiment includes an active driving module 10 , a connecting seat 20 , a driven module 30 and a deployment module 40 .

[0018] The active drive module 10 is used for active movement in the pipeline, and comprises an active drive base 11, two active wheels 12 arranged at the bottom of the active drive base 11, a motor 13 arranged in the active drive base 11 and a first unfolding support 14 arranged on the active drive base 11.

[0019] In this embodiment, the motor 13 may be a DC reduction motor.

[0020] The output rod of the motor 13 is connected to a motor gear 131 , and a driving gear 121 meshing with the motor gear 131 is provided inside a driving wheel 12 , and the motor 13 drives the driving wheel 12 to rotate through gear transmission.

[0021] The bottom of the connecting seat 20 is connected to the active driving base 11 via a first rotating shaft 21 .

[0022] The driven module 30 is used to follow the active driving module 10 to move, and has a driven driving base 31 connected to the bottom of the connecting base 20 through the second rotating shaft 22, two driven wheels 32 arranged at the bottom of the driven driving base 31, a battery 33 arranged in the driven driving base 31, and a second unfolding support 34 arranged on the driven driving base 31.

[0023] The battery 33 is electrically connected to the motor 13 for power supply.

[0024] A torsion angle is provided between the connecting seat 20 and the axes of the first rotating shaft 21 and the second rotating shaft 22 , and the torsion angle enables the pipe diameter adaptive pipeline robot 100 to advance spirally in the pipeline.

[0025] Figure 4 It is a schematic diagram comparing setting the torsion angle and not setting the torsion angle under simplified modeling in an embodiment of the present invention.

[0026] like Figure 4 As shown, Figure 4 (a) and (b) in FIG. 1 show simplified models of the active drive base 11, the connecting base 20 and the passive drive base 31. Figure 4 In (a), the connection between the connecting seat 20 and the active driving base 11 and the driven driving base 31 does not have a torsion angle. Since there is no torsion angle, the pipe diameter adaptive pipeline robot 100 will rotate in situ around the pipe wall when moving in the pipeline. Figure 4 In (b), a torsion angle is set at the connection between the connecting base 20 and the active driving base 11 and the passive driving base 31, and the torsion angle can enable the pipe diameter adaptive pipeline robot 100 to spirally move forward in the pipeline.

[0027] Figure 5 is a simplified schematic diagram of an expansion module in an embodiment of the present invention.

[0028] like Figure 5 As shown, the figure shows a simplified modeling of an active drive base 11, a connecting base 20 and a passive drive base 31. The unfolding module 40 is used to make the active wheel 12 and the driven wheel 32 move in contact with the inner wall of the pipe, including a first guide rod 41 arranged between the first unfolding support 14 and the top of the connecting base 20 and a second guide rod 42 arranged between the second unfolding support 34 and the top of the connecting base 20.

[0029] When the active driving module 10 rotates relative to the connecting base 20 around the first rotating shaft 21, the first guide rod 41 also rotates by the same angle.

[0030] When the driven module 30 rotates relative to the connecting base 20 around the second rotating shaft 22 , the second guide rod 42 also rotates by the same angle.

[0031] In this embodiment, the active driving module 10 and the driven module 30 are both connected to the connecting seat 20 in a hinged manner.

[0032] like Figure 2 As shown, in this embodiment, openings are provided at the top of the connecting seat 20, the top of the first unfolding support 14 and the top of the second unfolding support 34, and bolts 101 are inserted into the openings accordingly, and the first guide rod 41 and the second guide rod 42 are fixed by the bolts 101 and nuts 102.

[0033] In this embodiment, the active driving base 11 and the passive driving base 31 are connected to the connecting base 20 via the sleeve 103 and the buckle 104 , and the sleeve 103 and the buckle 104 form the first rotating shaft 21 and the second rotating shaft 22 respectively.

[0034] In this embodiment, the included angle between the active driving module 10 , the driven module 30 and the connecting socket 20 does not exceed 180° at most.

[0035] The first guide rod 41 and the second guide rod 42 are respectively located on both sides of the connecting seat 20. Compression springs are provided in the first guide rod 41 and the second guide rod 42. When the active driving module 10 and the driven module 30 rotate relative to the connecting seat 20, the first guide rod 41 and the second guide rod 42 also rotate at the same angle. At this time, the elastic potential energy provided by the compression spring enables the active wheel 12 and the driven wheel 32 to keep in contact with the inner wall of the pipe and move.

[0036] The movement process of the pipe diameter adaptive pipeline robot in this embodiment in the pipeline is as follows:

[0037] The motor 13 drives a driving wheel 12 to move through gear transmission, and the active driving module 10 starts to move. At this time, the driven module 30 also moves with it, and because a torsion angle is provided between the connecting seat 20 and the axes of the first rotating shaft 21 and the second rotating shaft 22, the pipe diameter adaptive pipeline robot 100 moves in a spiral manner. During the movement, the active driving module 10 rotates relative to the connecting seat 20 around the first rotating shaft 21, and the driven module 30 rotates relative to the connecting seat 20 around the second rotating shaft 22. At this time, the first guide rod 41 and the second guide rod 42 also rotate to a corresponding angle, and the elastic potential energy provided by the compression spring is used to open the active driving module 10 and the driven module 30, so that the active wheel 12 and the driven wheel 32 remain in contact with the inner wall of the pipeline, so that the pipe diameter adaptive pipeline robot 100 is close to the inner wall of the pipeline and performs spiral movement.

[0038] Functions and Effects of the Embodiments

[0039] According to the pipe diameter adaptive pipeline robot involved in this embodiment, because compression springs are provided in the two guide rods of the unfolding module, the pipe diameter adaptive pipeline robot can be passively unfolded when the pipe diameter adaptive pipeline robot moves, and the elastic potential of the compression springs makes the driving wheel and the driven wheel always stick to the inner wall of the pipeline and generate positive pressure on the inner wall of the pipeline, thereby ensuring the stable movement of the robot; because a torsion angle is provided between the connecting seat and the axes of the first rotating shaft and the second rotating shaft, the pipe diameter adaptive pipeline robot can be spirally advanced in the pipeline through the torsion angle, ensuring that the robot will not rotate around the pipe wall in situ, and the spiral advancement can adapt to larger diameter changes of the pipeline and has a wider range of applications; because the motor and a driving wheel are connected by gear transmission, the transmission structure is more compact and the transmission efficiency is higher, which can reduce the volume of components while ensuring stable and reliable operation of the robot.

[0040] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

Claims

1. A pipe diameter adaptive pipeline robot, characterized in that: include: An active drive module, used for active movement in the pipeline, comprising an active drive base, two active wheels arranged at the bottom end of the active drive base, a motor arranged in the active drive base, and a first deployment support arranged on the active drive base; A connecting seat, the bottom of which is connected to the active driving base via a first rotating shaft; A driven module, used to follow the active driving module to move, comprising a driven driving base connected to the bottom of the connecting base via a second rotating shaft, two driven wheels arranged at the bottom of the driven driving base, a battery arranged in the driven driving base, and a second unfolding support arranged on the driven driving base; The deployment module is used to make the driving wheel and the driven wheel move in contact with the inner wall of the pipeline, and includes a first guide rod arranged between the first deployment support and the top of the connecting seat, and a second guide rod arranged between the second deployment support and the top of the connecting seat. The battery is electrically connected to the motor for power supply. When the active driving module rotates relative to the connecting seat around the first rotating shaft, the first guide rod also rotates by the same angle. When the driven module rotates relative to the connecting seat around the second rotating shaft, the second guide rod also rotates by the same angle. The first guide rod and the second guide rod are respectively located at two sides of the connecting seat, and compression springs are provided in the first guide rod and the second guide rod. When the active driving module and the driven module rotate relative to the connecting seat, the elastic potential energy provided by the compression springs enables the active wheel and the driven wheel to keep in contact with the inner wall of the pipe and move. A torsion angle is provided between the connecting seat and the axes of the first rotating shaft and the second rotating shaft. During the movement, the active driving module rotates relative to the connecting seat around the first rotating shaft, and the driven module rotates relative to the connecting seat around the second rotating shaft. At this time, the first guide rod and the second guide rod also rotate at a corresponding angle, and the active driving module and the driven module are spread apart by the elastic potential energy provided by the compression spring, so that the active wheel and the driven wheel remain in contact with the inner wall of the pipeline, so that the pipe diameter adaptive pipeline robot is tightly attached to the inner wall of the pipeline and performs spiral motion.

2. The pipe diameter adaptive pipeline robot according to claim 1, characterized in that: in, The output rod of the motor is connected with a motor gear, and a driving gear meshing with the motor gear is provided inside the driving wheel. The motor drives the driving wheel to rotate through gear transmission.

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