A pipe feeding device and a robot pipe feeding method

Abstract

The present invention relates to a pipe inlet device and a robot pipe inlet method, belonging to the technical field of robots, and is used for enabling a robot to enter a pipe after being compressed. The robot is a multi-point supported robot. The pipe inlet device includes a support and a first housing rotatably arranged on the support. The first housing has a cavity for accommodating the multi-point supported robot. The first housing at least includes a first housing section and a second housing section. The first housing section is rotatably arranged on the support, and the second housing section is detachably connected to the first housing section. The beneficial effects of the present invention are as follows: By only one operation, all the support mechanisms of the pipe robot are simultaneously compressed to a predetermined position, simplifying the process of the robot entering the pipe. At the same time, it is convenient to adjust the pipe inlet angle of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a pipe inlet device and a robot pipe inlet method. Background Art

[0002] For the existing multi-point passive support type pipeline inspection robot, through a support mechanism driven by multiple groups of springs, its driving wheels are in contact with the inner wall of the pipeline. Before the pipeline inspection robot enters the pipeline to perform tasks, the springs need to be pre-compressed to a certain length to send it into the pipeline.

[0003] The existing spring adjustment method is to adjust each spring of multiple groups of support mechanisms one by one. This adjustment method is time-consuming and laborious, making it difficult for the robot to enter the pipeline.

[0004] Moreover, since some sensors of the robot require it to enter the pipeline at a specific angle, and after entering the pipeline, it cannot adjust the angle autonomously due to being in close contact with the inner wall of the pipeline, so there is currently a lack of a technology that can actively adjust the angle of the robot before it enters the pipeline. Summary of the Invention

[0005] The purpose of the present invention is to provide a pipe inlet device and a robot pipe inlet method to solve the technical problem of difficult pipe inlet of the robot.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A pipe inlet device, characterized in that it is used to compress the robot and enter the pipeline. The robot is a multi-point support type robot. The pipe inlet device includes a support and a first housing rotatably arranged on the support. The first housing has a cavity for accommodating the multi-point support type robot; the first housing at least includes a first housing section and a second housing section. The first housing section is rotatably arranged on the support, and the second housing section is detachably connected to the first housing section.

[0007] Preferably, the first housing section is a cylindrical body with a fan-shaped cross-section. The support includes at least one bearing device arranged around the outside of the first housing section. The bearing device is arranged around at least a part of the first housing section, and the first housing section is rotatably connected to the support through the bearing device.

[0008] Preferably, the support further includes a cylinder arranged around the outside of the bearing device, and each bearing device is fixedly arranged in the cylinder.

[0009] Preferably, the bearing device is a ball bearing device or a needle roller bearing device. When the bearing device is a needle roller bearing device, the needle roller bearing device includes a plurality of rollers distributed along the circumferential direction of the first housing section.

[0010] Preferably, the inlet pipe device further includes a driving device for driving the first housing to rotate. The driving device is arranged on the support, and the driving device is in transmission connection with the first housing through a transmission device.

[0011] Preferably, the transmission device includes a gear ring arranged on the outer wall surface of the first housing. The gear ring is arranged on the first housing section and / or the second housing section. The transmission device further includes a gear power-connected to the driving device, and the gear is in meshing connection with the gear ring; or, the transmission device further includes a worm power-connected to the driving device, and the worm is in meshing connection with the gear ring.

[0012] Preferably, both the first housing section and the second housing section are semi-cylindrical bodies. The inlet pipe device further includes at least one limiting ring arranged outside the first housing. The limiting ring is detachably connected to the support, and the limiting ring is used to limit the radial movement of the first housing.

[0013] Preferably, at least one side of the first housing section is provided with a first ear plate extending outward, and at least one side of the second housing section is provided with a second ear plate cooperating with the first ear plate. The first ear plate and the second ear plate are used for connecting the first housing section and the second housing section.

[0014] Preferably, when the height of the cylinder is greater than or equal to the height of the second housing section, at least one side of the cylinder further has an opening for avoiding the first ear plate and / or the second ear plate.

[0015] Compared with the prior art, in the inlet pipe device provided by the present invention, the robot can easily enter the pipeline. Through only one operation, the springs of all the support mechanisms of the robot can be simultaneously compressed to a predetermined position, simplifying the process of the robot entering the pipeline. At the same time, the first housing is rotatably arranged on the support. After the robot is placed on the first housing, rotating the first housing can adjust the angle of the robot, so that the robot has been adjusted to a preset angle before entering the pipeline, facilitating the adjustment of the inlet pipe angle of the robot.

[0016] The present invention also provides a robot inlet pipe method using the inlet pipe device. The inlet pipe method includes: placing the robot in the first housing section, installing the second housing section, rotating the first housing to rotate the robot to a preset angle, docking one end of the first housing with the pipeline, and starting the robot to enable the robot to enter the pipeline.

[0017] Compared with the prior art, the beneficial effects of the robot inlet pipe method provided by the present invention are the same as those of the above technical solutions and will not be elaborated here. Description of the Drawings

[0018] The accompanying drawings illustrate exemplary embodiments of the present invention and, together with the description thereof, are used to explain the principles of the present invention. These drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification.

[0019] Figure 1 is a schematic structural diagram of an embodiment;

[0020] Figure 2 is a schematic structural diagram of the cylinder body;

[0021] In the figure: 1 - support, 2 - first shell, 3 - first shell section, 4 - second shell section, 5 - bearing device, 6 - cylinder body, 7 - tripod, 8 - driving device, 9 - gear ring, 10 - gear, 11 - bracket, 12 - limit ring, 13 - first ear plate, 14 - second ear plate, 15 - lifting ring, 16 - opening. Detailed Embodiments

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the relevant content and do not limit the present invention. Additionally, it should be noted that, for the sake of convenience of description, only the parts related to the present invention are shown in the drawings.

[0023] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and embodiments.

[0024] As Figure 1 - Figure 2 shown, an inlet pipe device, characterized in that it is used to enable a robot to enter a pipeline after being compressed. The robot is a multi-point supported robot. The inlet pipe device includes a support 1 and a first shell 2 rotatably arranged on the support 1. The first shell 2 has a cavity for accommodating the multi-point supported robot; the first shell 2 at least includes a first shell section 3 and a second shell section 4. The first shell section 3 is rotatably arranged on the support 1, and the second shell section 4 is detachably connected to the first shell section 3. Exemplarily, the first shell section 3 and the second shell section 4 are semi-circular shells, and the two are connected to form a cylindrical first shell 2.

[0025] In the inlet pipe device provided by the present invention, the robot is a multi-point passive supported pipeline robot. Since the multi-point passive supported pipeline robot walks in the pipeline through a support mechanism, and there are multiple support mechanisms, each support mechanism includes a spring. By using the resilience of the spring, the multi-point passive supported pipeline robot is supported in the pipeline. The spring can be compressed by an external force. In the prior art, it is necessary to pre-compress multiple springs one by one to a certain length in order to send them into the pipeline;

[0026] In contrast, in the pipe inlet device disclosed by the present invention, the robot is first placed in the first shell section 3, and then the second shell section 4 is hoisted above the first shell section 3 and fixed to the first shell section 3. During this installation process, all the springs of the robot will be simultaneously compressed until the second shell section 4 and the first shell section 3 are closed and the springs are compressed to a preset length. Then, by rotating the first housing 2, the robot can be rotated to a preset angle. Finally, one end of the first housing 2 is docked with the pipeline, and the robot is started to enable the robot to enter the pipeline, thus completing the operation of the robot entering the pipeline;

[0027] Therefore, by using the pipe inlet device of the present invention, the robot can easily enter the pipeline. Through only one operation, the springs of all the support mechanisms of the robot can be simultaneously compressed to a predetermined position, simplifying the process of the robot entering the pipeline. At the same time, the first housing is rotatably arranged on the support. After the robot is placed on the first housing, by rotating the first housing, the angle of the robot can be adjusted so that the robot has been adjusted to a preset angle before entering the pipeline, which is convenient for adjusting the pipe inlet angle of the robot.

[0028] It can be imagined that during the installation process of the pipe inlet device, in order to connect the first housing 2 with the pipeline, the outer diameter of the first housing 2 is not greater than the inner diameter of the pipeline. Exemplarily, when the outer diameter of the first housing 2 is equal to the inner diameter of the pipeline, the first housing 2 is docked with the pipeline. When the outer diameter of the first housing 2 is less than the inner diameter of the pipeline, the first housing 2 is inserted into the pipeline.

[0029] In some embodiments, the first shell section 3 is a cylindrical body with a fan-shaped cross-section, and the second shell section 4 can also be a cylindrical body with a fan-shaped cross-section. In order to reduce the friction between the support 1 and the first shell section 3, the support 1 includes at least one bearing device 5 arranged around the outside of the first shell section 3. Exemplarily, one, two or three bearing devices 5 can be provided. When two bearing devices 5 are provided, the two bearing devices 5 are symmetrically arranged on both sides of the first shell section 3; the bearing device 5 is arranged around at least a part of the first shell section 3. The bearing device 5 can completely cover the outer circle of the first shell section 3 or cover a part of it. The first shell section 3 is rotatably connected to the support 1 through the bearing device 5.

[0030] Specifically, the above-mentioned support 1 further includes a cylinder 6 arranged around the outside of the bearing device 5. Each bearing device 5 is fixedly arranged in the cylinder 6. The cylinder 6 covers at least a part of the first housing 2. Exemplarily, the cylinder 6 is semi-circular, and the inner diameter of the cylinder 6 is not less than the outer diameter of the first housing 2. The length of the cylinder 6 is less than the length of the first housing 2, so that the end of the first housing 2 extends out of the cylinder 6, which is convenient for connecting with the pipeline. A tripod 7 is fixed below the cylinder 6 for placing the pipe inlet device on the ground.

[0031] In some embodiments, the bearing device 5 is a ball bearing device 5 or a needle roller bearing device 5. The bearing device 5 is not limited to these two forms and other forms can also be adopted as long as the friction can be reduced. When the bearing device 5 is a needle roller bearing device 5, the needle roller bearing device 5 includes a plurality of rollers circumferentially distributed along the first shell section 3. The axial directions of the plurality of rollers are parallel to the axial direction of the first housing 2. The needle roller bearing device 5 further includes two relatively arranged support rings. The plurality of rollers are rotatably arranged between the two support rings.

[0032] In some embodiments, the inlet pipe device further includes a driving device 8 for driving the first housing 2 to rotate. The driving device 8 is arranged on the support 1, and the driving device 8 is in transmission connection with the first housing 2 through a transmission device. The driving device 8 drives the first housing 2 to rotate, thereby adjusting the angle of the robot. The driving device 8 can adopt a stepping motor or a servo motor, etc.

[0033] In some embodiments, the transmission device includes a gear ring 9 arranged on the outer wall surface of the first housing 2. The gear ring 9 is arranged on the first shell section 3 and / or the second shell section 4. The transmission device further includes a gear 10 power-connected to the driving device 8. The gear 10 is meshed with the gear ring 9, and the gear 10 is coaxially rotatably connected to the output shaft of the driving device 8; or, the transmission device further includes a worm power-connected to the driving device 8. The worm is meshed with the gear ring 9.

[0034] In order to install the driving device 8, the support 1 is detachably fixed with a bracket 11. The driving device 8 is fixed on the bracket 11. At the same time, for the sake of structural compactness and rationality, the bearing device 5 at this position adopts a semi-circular ring type and the limit ring 12 is not installed.

[0035] In some embodiments, both the first shell section 3 and the second shell section 4 are semi-cylindrical bodies with equal diameters. After being closed, the formed first housing 2 is cylindrical; the inlet pipe device further includes at least one limit ring 12 arranged outside the first housing 2. Exemplarily, one, two or three limit rings 12 can be provided. The limit ring 12 is detachably connected to the support 1. The limit ring 12 is used to limit the radial movement of the first housing 2. In order to reduce the friction between the limit ring 12 and the first housing 2, a bearing device 5 can be arranged between the limit ring 12 and the first housing 2.

[0036] It can be imagined that during the use process, the second shell section 4 will be lifted, disassembled and assembled. Therefore, in order to improve the strength of the second shell section 4, ribs for strengthening can be arranged on the outer circle of the second shell section 4. The ribs are semi-circular.

[0037] In some embodiments, at least one side of the first housing segment 3 is provided with a first ear plate 13 extending outwardly, and at least one side of the second housing segment 4 is provided with a second ear plate 14 that cooperates with the first ear plate 13. The first ear plate 13 and the second ear plate 14 are used for connecting the first housing segment 3 and the second housing segment 4. The connection between the first ear plate 13 and the second ear plate 14 can adopt bolt connection or snap connection. Both the first ear plate 13 and the second ear plate 14 are rectangular plates, and the length direction thereof is parallel to the axial direction of the first housing 2. A plurality of lifting rings 15 are provided on the second ear plate 14 for lifting the second housing segment 4.

[0038] In some embodiments, when the height of the cylinder 6 is greater than or equal to the height of the second housing segment 4, at least one side of the cylinder 6 further has an opening for avoiding the first ear plate 13 and / or the second ear plate 14. Specifically, the openings 16 are provided on both sides of the cylinder 6, and the length of the openings 16 is greater than the lengths of the first ear plate 13 and the second ear plate 14. When the first housing 2 rotates, the openings 16 can be used to avoid the first ear plate 13 and the second ear plate 14.

[0039] The present invention also provides a method for a robot to enter a pipe. Using the above pipe entering device, the pipe entering method includes: placing the robot inside the first housing segment 3, installing the second housing segment 4, rotating the first housing 2, rotating the robot to a preset angle, docking one end of the first housing 2 with a pipe, and starting the robot to enable the robot to enter the pipe.

[0040] In some embodiments, after installing the second housing segment 4, it is also necessary to install a limit ring 12, a bearing device 5 corresponding to the limit ring 12, a bracket 11, a driving device 8 and a transmission device.

[0041] It can be understood that in order to reduce the installation process and further improve the efficiency, the length of the first housing 2 can be lengthened. Specifically, let the length of the part of the first housing 2 between the limit ring 12 and the bracket 11 be a, and the length of the robot be b. Then a is greater than b, so that the parts of the first housing segment 3 corresponding to the limit ring 12 and the bracket 11 are circular, and the middle part is semi-circular. The second housing segment 4 is located between the limit ring 12 and the bracket 11. When using the pipe entering device, only the second housing segment 4 needs to be installed, and there is no need to disassemble and install the limit ring 12, the bearing device 5 corresponding to the limit ring 12, the bracket 11, the driving device 8 and the transmission device.

[0042] Compared with the prior art, the beneficial effects of the robot pipe entering method provided by the present invention are the same as those of the pipe entering device, and will not be elaborated here.

[0043] In the description of this specification, the descriptions referring to terms such as "one embodiment / way", "some embodiments / ways", "example", "specific example", or "some examples", etc., mean that the specific features, structures, materials, or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment / way or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments / ways or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments / ways or examples described in this specification and the features of different embodiments / ways or examples.

[0044] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0045] Those skilled in the art should understand that the above embodiments are only for clearly explaining the present invention and are not intended to limit the scope of the present invention. For those skilled in the art, other changes or modifications can be made based on the above disclosure, and these changes or modifications are still within the scope of the present invention.

Claims

1. An inlet pipe device, characterized in that, For the robot to be compressed and enter the pipeline, the robot is a multi-point supported robot, and the pipe inlet device includes a support and a first housing rotatably provided on the support. The first housing has a cavity for accommodating the multi-point supported robot; The first housing at least includes a first housing section and a second housing section. The first housing section is rotatably provided on the support, and the second housing section is detachably connected to the first housing section; The support includes at least one bearing device annularly provided outside the first housing section. The bearing device annularly covers at least a part of the outside of the first housing section, and the first housing section is rotatably connected to the support through the bearing device; The support further includes a cylinder body annularly provided outside the bearing device, and each bearing device is fixedly provided in the cylinder body; Both the first housing section and the second housing section are semi-cylindrical cylinders. The pipe inlet device further includes at least one limiting ring annularly provided outside the first housing. The limiting ring is detachably connected to the support, and the limiting ring is used to limit the radial movement of the first housing; Place the robot in the first housing section and install the second housing section; Rotate the first housing to rotate the robot to a preset angle; Dock one end of the first housing with the pipeline, start the robot, and enable the robot to enter the pipeline.

2. The inlet pipe device according to claim 1, characterized in that, The bearing device is a ball bearing device or a needle roller bearing device. When the bearing device is a needle roller bearing device, the needle roller bearing device includes a plurality of rollers circumferentially distributed along the first housing section.

3. The inlet pipe device according to claim 1, characterized in that, The pipe inlet device further includes a driving device for driving the first housing to rotate. The driving device is provided on the support, and the driving device is in transmission connection with the first housing through a transmission device.

4. The inlet pipe device according to claim 3, characterized in that, The transmission device includes a gear ring provided on the outer wall surface of the first housing. The gear ring is provided on the first housing section and / or the second housing section. The transmission device further includes a gear power-connected to the driving device, and the gear is meshed with the gear ring; or, The transmission device further includes a worm power-connected to the driving device, and the worm is meshed with the gear ring.

5. The inlet pipe device according to claim 1, characterized in that, At least one side of the first housing section is provided with a first ear plate extending outward, and at least one side of the second housing section is provided with a second ear plate cooperating with the first ear plate; The first ear plate and the second ear plate are used for connecting the first housing section and the second housing section.

6. The inlet pipe device according to claim 5, characterized in that, When the height of the cylinder body is greater than or equal to the height of the second housing section, at least one side of the cylinder body further has an opening for avoiding the first ear plate and the second ear plate.

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