An anti-stuck driving device suitable for pipeline inspection robots

Abstract

The invention discloses an anti-stuck driving device for a pipeline inspection robot, comprising a head cover, a shell, a transfer guide shaft, a leather cup, a rubber sealing disc, a rubber sealing sleeve, a flange baffle and a hydraulic cylinder; a flange structure at the shell barrel mouth is matched with the flange baffle; a sealing partition in the middle of the shell divides the internal space of the shell into a front chamber and a rear chamber, and the front chamber and the head cover are located on the same side; the head cover and the sealing partition are connected through the transfer guide shaft; the rubber sealing sleeve is sleeved on the transfer guide shaft, the rubber sealing disc is fixedly sleeved on the rubber sealing sleeve, and the rubber sealing disc is fixedly clamped between the flange baffle and the front end barrel mouth of the shell; a leather cup clearance is left between the flange baffle and the head cover; the leather cup is sleeved on the transfer guide shaft and is connected to the front end of the rubber sealing sleeve, and the leather cup extends to the outside of the head cover through the leather cup clearance; the hydraulic cylinder is located in the front chamber and is used to connect the transfer guide shaft and the rubber sealing sleeve; a force transmission gasket is connected between the piston rod of the hydraulic cylinder and the rubber sealing sleeve.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline detection robots, and in particular relates to an anti-stuck driving device suitable for pipeline detection robots. Background Art

[0002] As an important means of transporting energy, pipeline transportation may cause failures and damages due to various factors during actual use. In order to quickly and easily locate the faults and damages, many pipeline inspection robots have emerged. However, during the operation of pipeline inspection robots, due to the complex environment inside the pipeline, pipeline inspection robots are prone to collision with the inner wall of the pipeline, which will cause the leather cup on the drive device to deform, and then cause the pipeline inspection robot to lose power and get stuck inside the pipeline. In the end, the pipeline inspection robot can only be removed through rescue methods such as forward and reverse push, which ultimately leads to the failure of the inspection operation to be successfully completed. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides an anti-stuck driving device suitable for a pipeline inspection robot, which can enable the pipeline inspection robot to have self-rescue capability when being stuck. The anti-stuck driving device uses a hydraulic cylinder as a driving element, and fully utilizes the characteristic that the hydraulic cylinder can be immersed in oil and still work normally, and the hydraulic cylinder indirectly drives the deformed leather cup to recover by pushing the force transmission gasket, so that the pressure on the leather cup can be evenly distributed, preventing the leather cup from being damaged by the thrust of the hydraulic cylinder, thereby quickly releasing the stuck state of the pipeline inspection robot, and allowing the pipeline inspection robot to quickly resume inspection operations.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an anti-stuck drive device suitable for a pipeline inspection robot, comprising a head cover, a shell, a transfer guide shaft, a leather cup, a rubber sealing disk, a rubber sealing sleeve, a flange baffle, a first hydraulic cylinder and a second hydraulic cylinder; the head cover adopts a hemispherical structure, and a first transfer threaded hole is arranged at the center of the inner surface of the head cover; the shell adopts a cylindrical tube structure, and flange structures are arranged at the barrel openings of both ends of the shell, and the flange structure at the barrel opening of the shell is matched with the flange baffle; a sealing partition is arranged in the middle of the shell, and the internal space of the shell is divided into a front chamber and a rear chamber by the sealing partition, and the front chamber and the head cover are located on the same side; the transfer guide shaft is coaxially arranged with the shell, the rear end of the transfer guide shaft is fixedly connected to the sealing partition, and a first transfer external thread is arranged at the front end of the transfer guide shaft. The shaft is screwed and fixedly connected with the first transfer threaded hole at the center of the inner surface of the head cover through the first transfer external thread; the rubber sealing sleeve is sleeved on the transfer guide shaft, and the rubber sealing sleeve has linear sliding freedom relative to the transfer guide shaft; the rubber sealing disk is fixedly sleeved on the rubber sealing sleeve, and the rubber sealing disk is fixedly clamped between the flange baffle and the front end barrel mouth of the shell; a leather cup clearance is left between the flange baffle and the head cover; the leather cup is sleeved on the transfer guide shaft, and the front end of the rubber sealing sleeve is connected to the inner surface of the leather cup, and the leather cup extends to the outside of the head cover through the leather cup clearance between the flange baffle and the head cover; the first hydraulic cylinder and the second hydraulic cylinder are located in the front chamber, the first hydraulic cylinder and the second hydraulic cylinder are connected between the transfer guide shaft and the rubber sealing sleeve, and the first hydraulic cylinder and the second hydraulic cylinder are arranged parallel to the transfer guide shaft.

[0005] A hydraulic cylinder adapter seat is fixedly arranged on the adapter guide shaft in the front chamber; a gasket clamping groove is arranged on the rubber sealing sleeve, and a force transmission gasket is installed in the gasket clamping groove; the force transmission gasket adopts a split structure, which is divided into a first half-ring gasket and a second half-ring gasket, and the first half-ring gasket and the second half-ring gasket are buckled to form a circular ring-shaped force transmission gasket; the cylinder barrel end of the first hydraulic cylinder is fixedly connected to the hydraulic cylinder adapter seat, and a second adapter external thread is arranged on the end of the piston rod of the first hydraulic cylinder, and a second adapter threaded hole is arranged on the first half-ring gasket. The piston rod end of the pressure cylinder is screwed and fixedly connected with the second transfer threaded hole on the first half-ring gasket through the second transfer external thread; the cylinder barrel end of the second hydraulic cylinder is fixedly connected to the hydraulic cylinder transfer seat, and a third transfer external thread is arranged on the piston rod end of the second hydraulic cylinder, and a third transfer threaded hole is arranged on the second half-ring gasket. The piston rod end of the second hydraulic cylinder is screwed and fixedly connected with the third transfer threaded hole on the second half-ring gasket through the third transfer external thread; the first hydraulic cylinder and the second hydraulic cylinder have an installation phase angle of 180° relative to the transfer guide shaft.

[0006] The rear chamber is used to set up a hydraulic control system for the first hydraulic cylinder and the second hydraulic cylinder, and the oil pump, reversing valve and controller contained in the hydraulic control system are all located in the rear chamber; the first transfer oil hole and the second transfer oil hole are respectively opened on the sealing baffle, the first oil pipe joint is sealed and installed in the first transfer oil hole, and the second oil pipe joint is sealed and installed in the second transfer oil hole; the first three-way joint and the second three-way joint are respectively arranged in the front chamber; the rod chambers of the first hydraulic cylinder and the second hydraulic cylinder are connected to the first three-way joint through an oil pipe, and the first three-way joint is connected to the oil pump through the first oil pipe joint and the reversing valve in turn through the oil pipe; the rodless chambers of the first hydraulic cylinder and the second hydraulic cylinder are connected to the second three-way joint through an oil pipe, and the second three-way joint is connected to the oil pump through the second oil pipe joint and the reversing valve in turn through the oil pipe.

[0007] The housing, the sealing partition, the transfer guide shaft and the hydraulic cylinder transfer seat adopt an integrated manufacturing structure.

[0008] The leather cup, the rubber sealing disc and the rubber sealing sliding sleeve adopt an integrated manufacturing structure.

[0009] The leather cup allows the row gap to be larger than the thickness of the leather cup.

[0010] The hydraulic oil provided by the hydraulic control system to the first hydraulic cylinder and the second hydraulic cylinder can directly adopt the oil transported in the pipeline.

[0011] Beneficial effects of the present invention:

[0012] The anti-stuck driving device suitable for a pipeline inspection robot of the present invention can enable the pipeline inspection robot to have a self-rescue capability when being stuck. The anti-stuck driving device uses a hydraulic cylinder as a driving element, and fully utilizes the characteristic that the hydraulic cylinder can be immersed in oil and still work normally. The hydraulic cylinder indirectly drives the deformed leather cup to recover by pushing the force transmission gasket, so that the pressure on the leather cup is evenly distributed, and the leather cup is prevented from being damaged by the thrust of the hydraulic cylinder, thereby quickly releasing the stuck state of the pipeline inspection robot, and enabling the pipeline inspection robot to quickly resume the inspection operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of an anti-jamming driving device suitable for a pipeline inspection robot according to the present invention;

[0014] Figure 2 It is a front cross-sectional view of an anti-stuck driving device suitable for a pipeline inspection robot according to the present invention;

[0015] Figure 3 It is a front cross-sectional view of an anti-jamming driving device (leather cup not shown) suitable for a pipeline inspection robot according to the present invention;

[0016] Figure 4 It is a combined assembly diagram of the leather cup, the rubber sealing disc and the rubber sealing sleeve of the present invention;

[0017] Figure 5 It is a structural schematic diagram of the flange baffle of the present invention;

[0018] Figure 6 An exploded view of the force transmission washer of the present invention;

[0019] In the figure, 1 is a head cover, 2 is a shell, 3 is a transfer guide shaft, 4 is a leather cup, 5 is a rubber sealing disk, 6 is a rubber sealing sleeve, 7 is a flange baffle, 8 is a first hydraulic cylinder, 9 is a second hydraulic cylinder, 10 is a first transfer threaded hole, 11 is a sealing baffle, 12 is a front chamber, 13 is a rear chamber, 14 is a first transfer external thread, 15 is a leather cup clearance, 16 is a hydraulic cylinder transfer seat, 17 is a gasket clamping groove, 18 is a force transmission gasket, 19 is a first half ring gasket, 20 is a second half ring gasket, 21 is a second transfer external thread, 22 is a second transfer threaded hole, 23 is a third transfer external thread, 24 is a third transfer threaded hole, 25 is a first transfer oil hole, 26 is a second transfer oil hole. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1 to 6As shown, an anti-stuck driving device suitable for a pipeline inspection robot comprises a head cover 1, a shell 2, a transfer guide shaft 3, a leather cup 4, a rubber sealing disc 5, a rubber sealing sleeve 6, a flange baffle 7, a first hydraulic cylinder 8 and a second hydraulic cylinder 9; the head cover 1 adopts a hemispherical structure, and a first transfer threaded hole 10 is arranged at the center of the inner surface of the head cover 1; the shell 2 adopts a cylindrical barrel structure, and flange structures are arranged at the barrel openings of both ends of the shell 2, and the flange structures at the barrel openings of the shell 2 are matched with the flange baffle 7; a sealing partition 11 is arranged in the middle of the shell 2, and the sealing partition 11 divides the internal space of the shell 2 into a front chamber 12 and a rear chamber 13, and the front chamber 12 and the head cover 1 are located on the same side; the transfer guide shaft 3 is coaxially arranged with the shell 2, the rear end of the transfer guide shaft 3 is fixedly connected to the sealing partition 11, and a first transfer external thread 14 is arranged at the front end of the transfer guide shaft 3, and the transfer guide shaft 3 is connected to the front end of the transfer guide shaft 3 through the first transfer external thread The thread 14 is screwed and fixedly connected with the first transfer threaded hole 10 at the center of the inner surface of the head cover 1; the rubber sealing sleeve 6 is sleeved on the transfer guide shaft 3, and the rubber sealing sleeve 6 has a linear sliding freedom relative to the transfer guide shaft 3; the rubber sealing disk 5 is fixedly sleeved on the rubber sealing sleeve 6, and the rubber sealing disk 5 is fixedly clamped between the flange baffle 7 and the front end barrel mouth of the shell 2; a leather cup clearance gap 15 is left between the flange baffle 7 and the head cover 1; the leather cup 4 is sleeved on the transfer guide shaft 3, and the front end of the rubber sealing sleeve 6 is connected to the inner surface of the leather cup 4, and the leather cup 4 extends to the outside of the head cover 1 through the leather cup clearance gap between the flange baffle 7 and the head cover 1; the first hydraulic cylinder 8 and the second hydraulic cylinder 9 are located in the front chamber 12, the first hydraulic cylinder 8 and the second hydraulic cylinder 9 are connected between the transfer guide shaft 3 and the rubber sealing sleeve 6, and the first hydraulic cylinder 8 and the second hydraulic cylinder 9 are arranged parallel to the transfer guide shaft 3.

[0022] A hydraulic cylinder adapter seat 16 is fixedly arranged on the adapter guide shaft 3 in the front chamber 12; a gasket clamping groove 17 is arranged on the rubber sealing sleeve 6, and a force transmission gasket 18 is installed in the gasket clamping groove 17; the force transmission gasket 18 adopts a split structure, which is divided into a first half-ring gasket 19 and a second half-ring gasket 20, and the first half-ring gasket 19 and the second half-ring gasket 20 are buckled to form a circular ring-shaped force transmission gasket 18; the cylinder end of the first hydraulic cylinder 8 is fixedly connected to the hydraulic cylinder adapter seat 16, and a second adapter external thread 21 is arranged on the end of the piston rod of the first hydraulic cylinder 8, and a second adapter threaded hole 22 is arranged on the first half-ring gasket 19. The piston rod end of the first hydraulic cylinder 8 is screwed and fixedly connected to the second transfer threaded hole 22 on the first half-ring gasket 19 through the second transfer external thread 21; the cylinder barrel end of the second hydraulic cylinder 9 is fixedly connected to the hydraulic cylinder transfer seat 16, and a third transfer external thread 23 is provided on the piston rod end of the second hydraulic cylinder 9, and a third transfer threaded hole 24 is provided on the second half-ring gasket 20. The piston rod end of the second hydraulic cylinder 9 is screwed and fixedly connected to the third transfer threaded hole 24 on the second half-ring gasket 20 through the third transfer external thread 23; the first hydraulic cylinder 8 and the second hydraulic cylinder 9 have an installation phase angle of 180° relative to the transfer guide shaft 3.

[0023] The rear chamber 13 is used to set up a hydraulic control system for the first hydraulic cylinder 8 and the second hydraulic cylinder 9, and the oil pump, reversing valve and controller contained in the hydraulic control system are all located in the rear chamber 13; the first transfer oil hole 25 and the second transfer oil hole 26 are respectively opened on the sealing baffle 11, and the first oil pipe joint is sealed and installed in the first transfer oil hole 25, and the second oil pipe joint is sealed and installed in the second transfer oil hole 26; the first three-way joint and the second three-way joint are respectively arranged in the front chamber 12; the rod chambers of the first hydraulic cylinder 8 and the second hydraulic cylinder 9 are connected to the first three-way joint through an oil pipe, and the first three-way joint is connected to the oil pump through the first oil pipe joint and the reversing valve in turn through the oil pipe; the rodless chambers of the first hydraulic cylinder 8 and the second hydraulic cylinder 9 are connected to the second three-way joint through an oil pipe, and the second three-way joint is connected to the oil pump through the second oil pipe joint and the reversing valve in turn through the oil pipe.

[0024] The housing 2, the sealing partition 11, the transfer guide shaft 3 and the hydraulic cylinder transfer seat 16 are manufactured in an integrated structure.

[0025] The leather cup 4, the rubber sealing disc 5 and the rubber sealing sleeve 6 are manufactured in an integrated structure.

[0026] The leather cup allows the row gap 15 to be larger than the thickness of the leather cup 4 .

[0027] The hydraulic oil provided by the hydraulic control system to the first hydraulic cylinder 8 and the second hydraulic cylinder 9 can be directly the oil transported in the pipeline.

[0028] In this embodiment, the outer diameter of the shell 2 is 220mm, and the inner diameter of the shell 2 is 210mm; the thickness of the sealing partition 11 is 20mm; the diameter of the adapter guide shaft 3 is 30mm; the thread specification of the first adapter external thread 14 and the first adapter threaded hole 10 is M30; the first adapter oil hole 25 and the second adapter oil hole 26 are threaded holes and the thread specification is M5; the thickness of the leather cup 4 is 20mm; the thickness of the rubber sealing disk 5 is 10mm, and the diameter of the rubber sealing disk 5 is 294mm; the outer diameter of the flange baffle 7 is 294mm The inner diameter of the flange baffle 7 is 180mm, and there are eight M14 threaded holes evenly distributed on the flange baffle 7; the thread specifications of the second transition external thread 21, the second transition threaded hole 22, the third transition external thread 23 and the third transition threaded hole 24 are M5; the first half ring gasket 19 and the second half ring gasket 20 are connected by M5 screws; the maximum output pressure of the first hydraulic cylinder 8 and the second hydraulic cylinder 9 is 10MPa, usually 5MPa is sufficient, and the maximum set stroke of the first hydraulic cylinder 8 and the second hydraulic cylinder 9 is 35mm.

[0029] In actual application, the leather cup 4 is in close contact with the inner wall of the pipeline. Under the thrust of the oil transported in the pipeline, the leather cup 4 will pull the pipeline inspection robot forward as a whole, thereby completing the pipeline inspection. If the leather cup 4 is deformed and causes the pipeline inspection robot to lose power and get stuck inside the pipeline, the oil pump first provides a pressure of 5MPa to the first hydraulic cylinder 8 and the second hydraulic cylinder 9, thereby controlling the piston rods of the two hydraulic cylinders to extend forward, and driving the rubber sealing sleeve 6 to slide forward through the force transmission gasket 18, while driving the rubber sealing disk 5 to stretch and deform, it also drives the leather cup 4 to shrink and deform synchronously. At this time, the leather cup 4 will retract into the head cover 1 as a whole, so that the leather cup 4 and the inner wall of the pipeline are out of the stuck state, and then the piston rods of the first hydraulic cylinder 8 and the second hydraulic cylinder 9 are controlled to return to their original positions, and the rubber sealing sleeve 6 is driven to slide backward to its original position. At this time, the leather cup 4 also returns to its original state and is in close contact with the inner wall of the pipeline again, so that the pipeline inspection robot can quickly resume its inspection operation capability.

[0030] The solutions in the embodiments are not intended to limit the patent protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the patent scope of this case.

Claims

1. An anti-stuck driving device suitable for a pipeline inspection robot, characterized in that: It includes a head cover, a shell, a transfer guide shaft, a leather cup, a rubber sealing disc, a rubber sealing sleeve, a flange baffle, a first hydraulic cylinder and a second hydraulic cylinder; the head cover adopts a hemispherical structure, and a first transfer threaded hole is arranged at the center of the inner surface of the head cover; the shell adopts a cylindrical structure, and flange structures are arranged at the shell ends, and the flange structures at the shell shell opening are matched with the flange baffle; A sealing partition is arranged in the middle of the shell, and the sealing partition divides the internal space of the shell into a front chamber and a rear chamber, and the front chamber and the head cover are located on the same side; the transfer guide shaft is coaxially arranged with the shell, and the rear end of the transfer guide shaft is fixedly connected to the sealing partition, and a first transfer external thread is arranged at the front end of the transfer guide shaft, and the transfer guide shaft is screwed and fixedly connected with the first transfer thread hole at the center of the inner surface of the head cover through the first transfer external thread; the rubber sealing sleeve is mounted on the transfer guide shaft, and the rubber sealing sleeve has a linear sliding freedom relative to the transfer guide shaft; the rubber sealing disk is fixed It is mounted on the rubber sealing sleeve, and the rubber sealing disk is fixedly clamped between the flange baffle and the front end barrel mouth of the shell; a leather cup clearance gap is left between the flange baffle and the head cover; the leather cup is mounted on the transfer guide shaft, and the front end of the rubber sealing sleeve is connected to the inner surface of the leather cup, and the leather cup extends to the outside of the head cover through the leather cup clearance gap between the flange baffle and the head cover; the first hydraulic cylinder and the second hydraulic cylinder are located in the front chamber, the first hydraulic cylinder and the second hydraulic cylinder are connected between the transfer guide shaft and the rubber sealing sleeve, and the first hydraulic cylinder and the second hydraulic cylinder are arranged parallel to the transfer guide shaft.

2. The anti-stuck driving device for a pipeline inspection robot according to claim 1, characterized in that: A hydraulic cylinder adapter seat is fixedly arranged on the adapter guide shaft in the front chamber; a gasket clamping groove is arranged on the rubber sealing sleeve, and a force transmission gasket is installed in the gasket clamping groove; the force transmission gasket adopts a split structure, which is divided into a first half-ring gasket and a second half-ring gasket, and the first half-ring gasket and the second half-ring gasket are buckled to form a circular ring-shaped force transmission gasket; the cylinder barrel end of the first hydraulic cylinder is fixedly connected to the hydraulic cylinder adapter seat, and a second adapter external thread is arranged on the end of the piston rod of the first hydraulic cylinder, and a second adapter threaded hole is arranged on the first half-ring gasket. The piston rod end of the pressure cylinder is screwed and fixedly connected with the second transfer threaded hole on the first half-ring gasket through the second transfer external thread; the cylinder barrel end of the second hydraulic cylinder is fixedly connected to the hydraulic cylinder transfer seat, and a third transfer external thread is arranged on the piston rod end of the second hydraulic cylinder, and a third transfer threaded hole is arranged on the second half-ring gasket. The piston rod end of the second hydraulic cylinder is screwed and fixedly connected with the third transfer threaded hole on the second half-ring gasket through the third transfer external thread; the first hydraulic cylinder and the second hydraulic cylinder have an installation phase angle of 180° relative to the transfer guide shaft.

3. The anti-stuck driving device for a pipeline inspection robot according to claim 1, characterized in that: The rear chamber is used to set up a hydraulic control system for the first hydraulic cylinder and the second hydraulic cylinder, and the oil pump, reversing valve and controller contained in the hydraulic control system are all located in the rear chamber; the first transfer oil hole and the second transfer oil hole are respectively opened on the sealing baffle, the first oil pipe joint is sealed and installed in the first transfer oil hole, and the second oil pipe joint is sealed and installed in the second transfer oil hole; the first three-way joint and the second three-way joint are respectively arranged in the front chamber; the rod chambers of the first hydraulic cylinder and the second hydraulic cylinder are connected to the first three-way joint through an oil pipe, and the first three-way joint is connected to the oil pump through the first oil pipe joint and the reversing valve in turn through the oil pipe; the rodless chambers of the first hydraulic cylinder and the second hydraulic cylinder are connected to the second three-way joint through an oil pipe, and the second three-way joint is connected to the oil pump through the second oil pipe joint and the reversing valve in turn through the oil pipe.

4. The anti-stuck driving device for a pipeline inspection robot according to claim 2, characterized in that: The housing, the sealing partition, the transfer guide shaft and the hydraulic cylinder transfer seat adopt an integrated manufacturing structure.

5. The anti-stuck driving device for a pipeline inspection robot according to claim 1, characterized in that: The leather cup, the rubber sealing disc and the rubber sealing sliding sleeve adopt an integrated manufacturing structure.

6. The anti-stuck driving device for a pipeline inspection robot according to claim 1, characterized in that: The leather cup allows the row gap to be larger than the thickness of the leather cup.

7. The anti-stuck driving device for a pipeline inspection robot according to claim 3, characterized in that: The hydraulic oil provided by the hydraulic control system to the first hydraulic cylinder and the second hydraulic cylinder can directly adopt the oil transported in the pipeline.

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