A fluid-driven pipeline robot power unit with dual speed regulation

Abstract

The present invention discloses a power unit for a fluid-driven pipeline robot with dual speed regulation, which includes a front leather cup, a control module, a lead screw speed regulation mechanism, a connecting limit pin and an iris speed regulation mechanism. The front leather cup is connected to the front end of the lead screw speed regulation mechanism with the control module, and the iris speed regulation mechanism is connected to the rear end of the lead screw speed regulation mechanism through the connecting limit pin. The control module includes an electronic device cabin and a control circuit board fixedly installed in the electronic device cabin. By using the iris speed regulation mechanism at the tail to control the area of the fluid acting on the leather cup, the pressure difference at both ends is controlled, so that the speed of the robot is maintained within a certain range to achieve primary speed regulation. When the flow rate changes at all times, the iris speed regulation response is slow or the change amount of the leather cup area reaches the limit value and the speed still does not meet the requirements, the lead screw speed regulation mechanism is used to change the friction force between the robot and the wall surface to achieve secondary speed regulation. The two speed regulations cooperate with each other to enable the robot to always work and retract at a stable speed.

Description

Technical Field

[0001] The present invention relates to the field of pipeline robots, and particularly to a power unit of a fluid-driven pipeline robot with dual speed regulation. Background Art

[0002] Pipeline transportation is widely used in the fields of energy supply, urban water supply, chemical production, etc. due to its advantages such as low cost, large transportation volume, and continuous operation, and has become the fifth major transportation industry after railway, highway, waterway, and air transportation. However, due to the pipeline environment, installation defects, and transportation media, a series of problems such as corrosion, fouling, and damage are likely to occur inside the pipeline during service.

[0003] As an ideal pipeline inspection and maintenance device, pipeline robots are gradually replacing manual labor and are widely used in the field of pipeline maintenance. At present, pipeline robots are roughly divided into three types according to the driving method: externally pushed type, self-driven type, and fluid-driven type. Compared with the first two driving methods, the fluid-driven pipeline robot uses the energy of the fluid medium inside the pipeline to achieve self-driving, solving the problem of energy supply for long-distance operations, and is a relatively ideal pipeline robot for long-distance pipeline maintenance.

[0004] Although the fluid-driven pipeline robot solves the problem of energy supply for long-distance pipeline work well, it also has defects. Due to the change of the pressure difference of the fluid medium at both ends, the robot often shows speed fluctuation phenomena such as starting and stopping intermittently or running fast and slow intermittently. The speed fluctuation will affect the accuracy of the pipeline inspection data of the pipeline robot, and even cause the inspection data to be completely unavailable. In addition, when the robot rushes out at the end of the pipeline, the speed often changes suddenly. When the robot speed exceeds the limit value that the mechanical body can bear, it is easy to damage the components. Summary of the Invention

[0005] The purpose of the present invention is to provide a power unit of a fluid-driven pipeline robot with dual speed regulation. By using the iris speed regulation mechanism at the tail to control the area of the fluid acting on the leather cup, the pressure difference at both ends is controlled, so that the robot speed is maintained within a certain range to achieve primary speed regulation. When the flow rate changes constantly, the iris speed regulation response is slow or the change amount of the leather cup area reaches the limit value and the speed still does not meet the requirements, the screw speed regulation mechanism is used to change the friction force between the robot and the wall surface to achieve secondary speed regulation. The two speed regulations cooperate with each other to enable the robot to always work and retract at a stable speed.

[0006] A power unit of a fluid-driven pipeline robot with dual speed regulation includes a front leather cup, a control module, a screw speed regulation mechanism, a connecting limit pin, and an iris speed regulation mechanism. The front leather cup is connected to the front end of the screw speed regulation mechanism with the control module, and the iris speed regulation mechanism is connected to the rear end of the screw speed regulation mechanism through the connecting limit pin. The control module includes an electronic device cabin and a control circuit board fixedly installed in the electronic device cabin.

[0007] Preferably, the screw speed regulating mechanism includes a front mounting ring, a rear mounting ring, a mileage wheel, a mileage wheel adjusting block, a screw rod, a through-type screw rod stepper motor, and a push rod;

[0008] The front mounting ring and the rear mounting ring are fixedly connected by a bracket, and a hub seat is also fixedly connected to the front mounting ring. A wheel arm is rotatably connected to the hub seat, the mileage wheel is rotatably connected to the wheel arm, a spring shaft is also connected between the front mounting ring and the rear mounting ring, the mileage wheel adjusting block is slidably connected to the spring shaft, a connecting rod is rotatably connected to the mileage wheel adjusting block, and the other end of the connecting rod is rotatably connected to the wheel arm;

[0009] The through-type screw rod stepper motor is fixedly connected to the front mounting ring, the screw rod is fixedly connected to the rear mounting ring through a screw rod mounting plate, and the screw rod is connected to the output shaft of the through-type screw rod stepper motor. The two ends of the push rod are respectively connected to the mileage wheel adjusting block and the screw rod nut, and the screw rod nut is threadedly connected to the screw rod.

[0010] Preferably, a spring is sleeved on the spring shaft, and the two ends of the spring are respectively connected to the hub seat and the mileage wheel adjusting block.

[0011] Preferably, the mileage wheel is rotatably connected to the wheel arm through a wheel shaft, and a disk is also fixedly connected to the wheel shaft. A speed sensor corresponding to the disk is also provided on the wheel arm.

[0012] Preferably, a rear baffle is also fixedly connected to the rear mounting ring, and a cover plate is also connected between the front mounting ring and the rear mounting ring.

[0013] Preferably, the iris speed regulating mechanism includes a rear leather cup, a rotating arm, an underwater sealed motor, a fixed chassis, and a moving leather cup. The underwater sealed motor is fixedly connected to the rear baffle, the rotating arm is connected to the output shaft of the underwater sealed motor, the rear leather cup is fixedly connected to the rotating arm through a connecting bolt, the fixed chassis is fixedly connected to a connecting limit pin, and the moving leather cup is slidably connected to the fixed chassis.

[0014] Preferably, a steel pin is fixedly provided on the moving leather cup, a hole groove is provided on the rear leather cup, one end of the steel pin is slidably connected to the fixed chassis, and the other end is fixedly connected to the hole groove. Steel sheets are also fixedly provided on the side surface of the moving leather cup in contact with the fixed chassis.

[0015] The advantages of the present invention are as follows: By using the tail iris speed regulation mechanism to control the area of the fluid acting on the leather cup, the pressure difference at both ends is controlled, so that the speed of the robot is maintained within a certain range, realizing primary speed regulation. When the flow rate changes constantly, the iris speed regulation response is slow or the change amount of the leather cup area reaches the limit value, and the speed still does not meet the requirements, the screw rod speed regulation mechanism is used to change the friction between the robot and the wall surface, realizing secondary speed regulation. The two speed regulations cooperate with each other to enable the robot to always work and retract at a stable speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the device of the present invention;

[0017] Figure 2 It is a schematic diagram of the structure of the screw rod speed regulation mechanism in the device of the present invention;

[0018] Figure 3 It is a schematic diagram of the internal structure of the screw rod speed regulation mechanism in the device of the present invention;

[0019] Figure 4 It is a schematic diagram of the structure of the control module in the device of the present invention;

[0020] Figure 5 It is a side view of the iris speed regulation mechanism in the device of the present invention;

[0021] Figure 6 It is a schematic diagram of the structure of the iris speed regulation mechanism in the device of the present invention;

[0022] Figure 7 It is a schematic diagram of the structure of the device of the present invention when the leather cup is removed from the iris speed regulation mechanism;

[0023] Figure 8 It is a schematic diagram of the structure of the moving leather cup in the device of the present invention;

[0024] Among them, 10, front leather cup; 11, control module; 12, screw rod speed regulation mechanism; 13, connecting limit pin; 14, iris speed regulation mechanism; 101, electronic device compartment; 102, control circuit board; 103, front mounting ring; 104, rear mounting ring; 105, odometer wheel; 106, wheel axle; 107, disk; 108, speed sensor; 109, hub seat; 110, wheel arm; 111, connecting rod; 112, spring shaft; 113, spring; 114, odometer wheel adjusting block; 115, rear baffle; 116, cover plate; 117, bracket; 118, screw rod; 119, screw rod mounting plate; 120, screw rod nut; 121, through-type screw rod stepping motor; 122, push rod; 123, rear leather cup; 124, rotating arm; 125, underwater sealed motor; 126, connecting bolt; 127, fixed chassis; 128, moving leather cup; 130, hole groove; 131, steel sheet; 132, steel pin. DETAILED DESCRIPTION OF THE INVENTION

[0025] To make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further described below in conjunction with specific embodiments.

[0026] As Figures 1 to 8 shown, the present invention includes a front leather cup 10, a control module 11, a lead screw speed regulating mechanism 12, a connecting limit pin 13 and an iris speed regulating mechanism 14. The front leather cup 10 and the control module 11 are connected to the front end of the lead screw speed regulating mechanism 12, and the iris speed regulating mechanism 14 is connected to the rear end of the lead screw speed regulating mechanism 12 through the connecting limit pin 13. The control module 11 includes an electronic device compartment 101 and a control circuit board 102 fixedly installed in the electronic device compartment 101.

[0027] Among them, the lead screw speed regulating mechanism 12 includes a front mounting ring 103, a rear mounting ring 104, a mileage wheel 105, a mileage wheel adjusting block 114, a lead screw 118, a through-type lead screw stepping motor 121 and a push rod 122. The front mounting ring 103 and the rear mounting ring 104 are fixedly connected through a bracket 117, and a hub seat 109 is also fixedly connected to the front mounting ring 103. A wheel arm 110 is rotatably connected to the hub seat 109, and the mileage wheel 105 is rotatably connected to the wheel arm 110. A spring shaft 112 is also connected between the front mounting ring 103 and the rear mounting ring 104. The mileage wheel adjusting block 114 is slidably connected to the spring shaft 112. A connecting rod 111 is rotatably connected to the mileage wheel adjusting block 114, and the other end of the connecting rod 111 is rotatably connected to the wheel arm 110. The through-type lead screw stepping motor 121 is fixedly connected to the front mounting ring 103. The lead screw 118 is fixedly connected to the rear mounting ring 104 through a lead screw mounting plate 119, and the lead screw 118 is connected to the output shaft of the through-type lead screw stepping motor 121. The two ends of the push rod 122 are respectively connected to the mileage wheel adjusting block 114 and a lead screw nut 120, and the lead screw nut 120 is threadedly connected to the lead screw 118.

[0028] Specifically, the mileage wheel 105 is rotatably connected to the wheel arm 110 through a wheel shaft 106, and a disk 107 is also fixedly connected to the wheel shaft 106. A speed sensor 108 corresponding to the disk 107 is also provided on the wheel arm 110.

[0029] In addition, a spring 113 is sleeved on the spring shaft 112, and the two ends of the spring 113 are respectively connected to the hub seat 109 and the mileage wheel adjusting block 114. A rear baffle 115 is also fixedly connected to the rear mounting ring 104, and a cover plate 116 is also connected between the front mounting ring 103 and the rear mounting ring 104.

[0030] Among them, the iris speed regulation mechanism 14 includes a rear leather cup 123, a rotating arm 124, a submersible sealed motor 125, a fixed chassis 127 and a moving leather cup 128. The submersible sealed motor 125 is fixedly connected to the rear baffle 115. The rotating arm 124 is connected to the output shaft of the submersible sealed motor 125. The rear leather cup 123 is fixedly connected to the rotating arm 124 through a connecting bolt 126. The fixed chassis 127 is fixedly connected to the connecting limit pin 13. The moving leather cup 128 is slidably connected to the fixed chassis 127.

[0031] Specifically, a steel pin 132 is fixedly arranged on the moving leather cup 128. A hole groove 130 is arranged on the rear leather cup 123. One end of the steel pin 132 is slidably connected to the fixed chassis 127, and the other end is fixedly connected to the hole groove 130. A steel sheet 131 is also fixedly arranged on the side surface of the moving leather cup 128 in contact with the fixed chassis 127.

[0032] Specific implementation method and principle:

[0033] As Figure 1 shown, it is an assembly drawing of the power unit assembly of a fluid-driven pipeline robot with dual speed regulation, which is composed of a front leather cup 10, a control module 11, a lead screw speed regulation mechanism 12, a connecting limit pin 13 and an iris speed regulation mechanism 14. The connecting limit pin 13 not only plays a role in connecting the lead screw speed regulation mechanism 12 and the iris speed regulation mechanism 14, but also is a limiting component for the rotating arm 124 of the iris speed regulation mechanism 14. When the rotating arm 124 contacts the connecting limit pin 13, the moving leather cup can no longer move.

[0034] As Figures 2 - 3 shown, the lead screw speed regulation mechanism 12 is composed of a front mounting ring 103, a rear mounting ring 104, a travel wheel 105, a wheel shaft 106, a disk 107, a speed sensor 108, a hub seat 109, a wheel arm 110, a connecting rod 111, a spring shaft 112, a spring 113, a travel wheel adjustment block 114, a rear baffle 115, a cover plate 116, a bracket 117, a lead screw 118, a lead screw mounting plate 119, a lead screw nut 120, a through-type lead screw stepper motor 121 and a push rod 122. When the travel wheel 105 rotates, it drives the disk 107 to rotate together through the wheel shaft 106. The speed sensor 108 obtains the disk rotation speed, so as to obtain the robot movement speed;

[0035] One end of the push rod 122 is connected to the lead screw nut 120, and the other end is connected to the odometer wheel adjustment block 114. When the lead screw speed regulation mechanism works, the through-type lead screw stepper motor 121 starts, the lead screw 118 rotates, driving the lead screw nut 120 to move linearly. The lead screw nut 120 drives the push rod 122 to move together, and the push rod 122 drives the odometer wheel adjustment block 114 to move. When the adjustment block moves, it will cause the connecting rod 111 to rotate, and the connecting rod 111 pushes the wheel arm 110, causing the wheel arm 110 to also rotate around the hub seat 109. The wheel arm 110 is connected to the odometer wheel 105, so that the pressure between the odometer wheel 105 and the wall surface can be controlled, the friction between the robot and the wall surface can be changed, and the purpose of speed regulation can be achieved.

[0036] As Figure 4 shown, the control module 11 is composed of the electronic device compartment 101 and the control circuit board 102. The circuit control board 102 receives the speed obtained by the speed sensor 108, and controls the start and stop of the underwater sealed motor 125 and the through-type lead screw stepper motor 121 according to the running speed requirement, so as to realize the speed regulation of the robot.

[0037] As Figures 5 - 8 shown, it is the iris speed regulation mechanism 14, which is composed of the underwater sealed motor 125, the rotating arm 124, the connecting bolt 126, the fixed chassis 127, the rear leather cup 123 and the movable leather cup 128. The underwater dynamic subcutaneous sealed motor 125 is connected to the rotating arm 124, and the rotation of the motor drives the rotating arm 124 to rotate. The rotating arm 124 is connected to the rear leather cup 123 through the connecting bolt 126. The rotation of the rear leather cup 123 drives the movable cup 128 to open and close, so as to realize the change of the fluid impact area. The movable leather cup 128 covering the steel sheet 131 can reduce the friction with the fixed chassis 127. The rear leather cup 123 is composed of the upper hole channel steel sheet 130, and the steel sheet in the hole groove 130 can reduce the friction with the steel pin 132 of the movable leather cup 128.

[0038] Based on the above, the present invention uses the tail iris speed regulation mechanism to control the area of the fluid acting on the leather cup, thereby controlling the pressure difference at both ends, keeping the robot speed within a certain range, and realizing the first speed regulation. When the flow rate changes constantly, the iris speed regulation response is slow or the change amount of the leather cup area reaches the limit value, and the speed still does not meet the requirements, the lead screw speed regulation mechanism is used to change the friction between the robot and the wall surface to realize the second speed regulation. The two speed regulations cooperate with each other to enable the robot to always work and retract at a stable speed.

[0039] As is known by technical common sense, the present invention can be implemented by other embodiments that do not depart from its spiritual essence or essential features. Therefore, the above-disclosed embodiments are illustrative in all aspects and are not the only ones. All changes within the scope of the present invention or within the scope equivalent to the present invention are included in the present invention.

Claims

1. A fluid-driven pipeline robot power unit with dual speed regulation, characterized in that, It includes a front leather cup (10), a control module (11), a lead screw speed regulating mechanism (12), a connecting limit pin (13) and an iris speed regulating mechanism (14). The front leather cup (10) and the control module (11) are connected to the front end of the lead screw speed regulating mechanism (12). The iris speed regulating mechanism (14) is connected to the rear end of the lead screw speed regulating mechanism (12) through the connecting limit pin (13). The control module (11) includes an electronic device compartment (101) and a control circuit board (102) fixedly installed in the electronic device compartment (101). The lead screw speed regulating mechanism (12) includes a front mounting ring (103), a rear mounting ring (104), a mileage wheel (105), a mileage wheel adjusting block (114), a lead screw (118), a through lead screw stepper motor (121) and a push rod (122). The front mounting ring (103) and the rear mounting ring (104) are fixedly connected by a bracket (117). A hub seat (109) is also fixedly connected to the front mounting ring (103). An arm (110) is rotatably connected to the hub seat (109). The mileage wheel (105) is rotatably connected to the arm (110). A spring shaft (112) is also connected between the front mounting ring (103) and the rear mounting ring (104). The mileage wheel adjusting block (114) is slidably connected to the spring shaft (112). A connecting rod (111) is rotatably connected to the mileage wheel adjusting block (114). The other end of the connecting rod (111) is rotatably connected to the arm (110). The through lead screw stepper motor (121) is fixedly connected to the front mounting ring (103). The lead screw (118) is fixedly connected to the rear mounting ring (104) through a lead screw mounting plate (119). The lead screw (118) is connected to the output shaft of the through lead screw stepper motor (121). The two ends of the push rod (122) are respectively connected to the mileage wheel adjusting block (114) and a lead screw nut (120). The lead screw nut (120) is threadedly connected to the lead screw (118). The iris speed regulating mechanism (14) includes a rear leather cup (123), a rotating arm (124), a submersible sealed motor (125), a fixed chassis (127) and a moving leather cup (128). The submersible sealed motor (125) is fixedly connected to the rear baffle (115). The rotating arm (124) is connected to the output shaft of the submersible sealed motor (125). The rear leather cup (123) is fixedly connected to the rotating arm (124) through a connecting bolt (126). The fixed chassis (127) is fixedly connected to the connecting limit pin (13). The moving leather cup (128) is slidably connected to the fixed chassis (127).

2. The power unit of a fluid-driven pipeline robot with dual speed regulation according to claim 1, characterized in that: A spring (113) is sleeved on the spring shaft (112). The two ends of the spring (113) are respectively connected to the hub seat (109) and the mileage wheel adjusting block (114).

3. A fluid-driven pipeline robot power unit with dual speed regulation according to claim 1, characterized in that: The odometer wheel (105) is rotatably connected to the wheel arm (110) through a wheel axle (106), and a disk (107) is also fixedly connected to the wheel axle (106). A speed sensor (108) corresponding to the disk (107) is further provided on the wheel arm (110).

4. A power unit of a fluid-driven pipeline robot with dual speed regulation according to claim 1, characterized in that: A rear baffle (115) is also fixedly connected to the rear mounting ring (104), and a cover plate (116) is connected between the front mounting ring (103) and the rear mounting ring (104).

5. The power unit of a fluid-driven pipeline robot with dual speed regulation according to claim 1, characterized in that: A steel pin (132) is fixedly provided on the movable leather cup (128). A hole groove (130) is provided on the rear leather cup (123). One end of the steel pin (132) is slidably connected to the fixed chassis (127), and the other end is fixedly connected to the hole groove (130). A steel sheet (131) is also fixedly provided on the side surface of the movable leather cup (128) in contact with the fixed chassis (127).

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