Working method of an external pipeline crawling robot

Abstract

The present invention discloses a working method of an outer pipeline crawling robot, and uses an outer pipeline crawling robot, including: three layers of annular bases are arranged longitudinally in sequence, each layer of annular base is sleeved on the outer circumference of the pipeline through a through hole arranged in the center, two adjacent layers of annular bases are connected by a lifting and telescopic cylinder arranged longitudinally, and each layer of annular base is provided with a clamping assembly for clamping on the outer wall of the pipeline. The method makes the corresponding lifting and telescopic cylinders extend or shorten, and when one layer of annular base moves in a predetermined direction, the other two layers of annular bases clamp on the outer wall of the pipeline through the clamping assemblies thereon, so that the three layers of annular bases are alternately moved in the predetermined direction in sequence, and this is repeated to achieve continuous creeping climbing along the outer wall of the pipeline. The present invention has high stability in the climbing process and can effectively reduce the safety hazards caused by equipment falling.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline construction, and in particular to a working method of an external pipeline crawling robot. Background Art

[0002] Currently, there are robots that can climb along the outer wall of pipelines. Corresponding construction equipment (such as metal flaw detectors, etc.) are installed on the robots, and the robots are used to crawl along the pipelines to replace manual pipeline inspections.

[0003] For vertically arranged pipelines, the difficulty of using robots to climb along the pipelines increases significantly. Existing robots of this type usually hold on to the outer wall of the pipeline. If the holding mechanism fails, the robot will fall from the pipeline due to gravity, causing damage to the equipment and posing a safety hazard to surrounding facilities and construction workers. In addition, existing robots of this type usually need to be equipped with a high-power drive mechanism, which continuously outputs power through the drive mechanism so that the robot can hold on to the outer wall of the pipeline. This results in high power consumption, high failure rate and poor stability.

[0004] If it is possible to control the alternating movements of multiple independently moving clamping mechanisms while the robot is climbing along the longitudinal pipeline, ensuring that at least two clamping mechanisms are clamping the pipeline at the same time and cooperating with each other to achieve climbing, the stability of the robot during the climbing process will be effectively improved to reduce safety hazards. Summary of the invention

[0005] The purpose of the present invention is to provide a working method for an external pipeline crawling robot to overcome the above-mentioned defects, control multiple independently acting clamping mechanisms to act alternately, and cooperate with each other to achieve climbing, so as to improve the stability of the robot during climbing along the longitudinal pipeline and reduce safety hazards.

[0006] To achieve the above-mentioned purpose, the solution of the present invention is: a working method of an outer pipeline crawling robot, using an outer pipeline crawling robot, comprising three layers of annular bases arranged in sequence longitudinally, two adjacent layers of annular bases are connected by a longitudinally arranged lifting and telescopic cylinder, each annular base is provided with a through hole for a pipeline to pass longitudinally in the center, and is respectively provided with a clamping component for clamping and fixing on the pipeline, the method comprising the following steps;

[0007] S1, the three layers of the annular base are respectively sleeved on the pipeline through the through holes thereon, and then the three layers of the annular base are respectively clamped and fixed on the outer wall of the pipeline through their respective clamping components;

[0008] S2, loosening the clamping assembly on the annular base close to the predetermined moving direction from the outer wall of the pipeline, extending the lifting and telescopic cylinder between the annular base and the intermediate layer annular base, and then clamping and fixing the clamping assembly on the annular base to the outer wall of the pipeline again;

[0009] S3, loosening the clamping assembly on the middle layer annular base from the outer wall of the pipeline, shortening the lifting and telescopic cylinder between the middle layer annular base and the annular base close to the predetermined moving direction, and extending the lifting and telescopic cylinder between the middle layer annular base and the annular base away from the predetermined moving direction, and then clamping the clamping assembly on the middle layer annular base to the outer wall of the pipeline again;

[0010] S5, loosening the clamping assembly on the annular base that deviates from the predetermined moving direction from the outer wall of the pipeline, shortening the lifting and telescopic cylinder between the annular base that deviates from the predetermined moving direction and the middle layer annular base, and then clamping and fixing the clamping assembly on the annular base that deviates from the predetermined moving direction to the outer wall of the pipeline again;

[0011] S6. Repeat steps S2 to S5.

[0012] Furthermore, in the process of repeating steps S2 to S5 once, the stroke of each lifting and telescopic cylinder extending or shortening in a single time is equal.

[0013] Furthermore, in steps S1-S6, the clamping assembly fixes the corresponding layer of annular base to the outer wall of the pipe through the friction self-locking effect.

[0014] Furthermore, the clamping assembly on each layer of the annular base includes a plurality of climbing foot assemblies arranged around the corresponding through holes, each climbing foot assembly includes a foot rod, a friction foot pad, an elastic member and a foot lifting telescopic cylinder, the foot rod is laterally pivoted on the annular base, and is formed with a first arm extending obliquely downward from the pivot point toward the through hole, a friction foot pad is fixed to the end of the first arm, the elastic member is arranged between the foot rod and the annular base, and the foot rod is driven to swing by elastic force, so that the first arm swings up to press the friction foot pad against the outer wall of the pipe, one end of the foot lifting telescopic cylinder is fixed to the annular base, and the other end is used to push the foot rod to swing, so that the first arm swings down to move the friction foot pad away from the outer wall of the pipe;

[0015] In steps S1-S6, the foot-lifting and telescopic cylinders on each climbing foot assembly on the corresponding layer of the annular base are shortened, and the corresponding friction foot pads are pressed against the outer wall of the pipe with the help of the elastic force of the elastic member, so that the clamping assembly is tightly clamped and fixed to the outer wall of the pipe; the foot-lifting and telescopic cylinders on each climbing foot assembly on the corresponding layer of the annular base are extended, so that the corresponding friction foot pads leave the outer wall of the pipe, so that the clamping assembly is loosened from the outer wall of the pipe.

[0016] Further, in steps S1-S6, when the friction pad is pressed against the outer wall of the pipe, the angle between the corresponding first arm and the horizontal direction is smaller than the friction angle between the friction pad and the outer wall of the pipe to produce self-locking.

[0017] Furthermore, two adjacent layers of annular bases are connected by a plurality of lifting and telescopic cylinders evenly distributed in an annular shape. In steps S2-S6, the plurality of lifting and telescopic cylinders between the two adjacent layers of annular bases operate synchronously.

[0018] After adopting the above scheme, the beneficial effect of the present invention is that three layers of annular bases are arranged longitudinally in sequence, each layer of the annular base is sleeved on the outside of the pipeline through the central through hole, and two adjacent layers of the annular bases are connected by a longitudinally arranged lifting and telescopic cylinder, and each layer of the annular base is provided with a clamping component for clamping to the outer wall of the pipeline. By extending or shortening the corresponding lifting and telescopic cylinder, and when one layer of the annular base moves in a predetermined direction, the other two layers of the annular base are clamped to the outer wall of the pipeline through the clamping components thereon, so that the three layers of the annular base are moved alternately in the predetermined direction in sequence, and this is repeated to achieve continuous creeping climbing along the outer wall of the pipeline. The climbing process has high stability and can effectively reduce the safety hazards caused by equipment falling. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the uppermost annular base of the present invention moving upward;

[0020] Figure 2 It is a schematic diagram of the middle layer annular base of the present invention moving upward;

[0021] Figure 3 It is a schematic diagram of the present invention when the lowest annular base moves upward;

[0022] Figure 4 This is a schematic diagram of the structure of the present invention when it is sleeved on a pipeline;

[0023] Figure 5 This is a schematic diagram of the top view of the structure when the present invention is sleeved on a pipeline;

[0024] Figure 6 It is a schematic diagram of the structure of the climbing foot assembly of the present invention;

[0025] Figure 7 The figure is a schematic diagram of the connection structure between the elastic member, the foot rod and the shaft seat of the present invention. Explanation of reference numerals: 1-annular base, 2-lifting telescopic cylinder, 3-pipeline, 4-through hole, 5-climbing foot assembly, 6-foot rod, 7-friction foot pad, 8-elastic member, 9-lifting telescopic cylinder, 10-first support arm, 11-second support arm, 18-holding assembly. DETAILED DESCRIPTION

[0026] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0027] The present invention provides a working method of an external pipeline crawling robot, using an external pipeline crawling robot, focusing on Figure 4-7As shown, the outer pipe crawling robot comprises three layers of annular bases 1 arranged in sequence longitudinally, two adjacent layers of annular bases 1 are connected by a plurality of lifting and telescopic cylinders 2 evenly distributed in an annular manner, each annular base 1 is provided with a through hole 4 in the center for allowing the longitudinal gap of the pipe 3 to pass through, and is respectively provided with a clamping assembly 18 for clamping and fixing on the pipe 3, and the clamping assembly 18 can be any existing mechanism that can clamp on the outer wall of the pipe 3;

[0028] Focus on combination Figure 1-3 As shown, the method comprises the following steps: S1, the three layers of the annular bases 1 are respectively sleeved on the pipe 3 through the through holes 4 thereon, so that each annular base 1 is composed of two crescent-shaped semi-arcs, and then during installation, the two crescent-shaped semi-arcs of each annular base 1 are respectively placed on both sides of the pipe 3, and then spliced, and the through hole 4 is formed in the center after splicing, and then the three layers of the annular bases 1 are respectively clamped and fixed to the outer wall of the pipe 3 through their respective clamping components 18;

[0029] S2. The clamping assembly 18 on the annular base 1 close to the predetermined moving direction (the uppermost annular base 1 when moving upward, and the lowermost annular base 1 when moving downward) is loosened from the outer wall of the pipe 3, and then the lifting and telescopic cylinder 2 between the annular base 1 and the middle-layer annular base 1 is extended to drive the annular base 1 to move a predetermined distance in the predetermined direction, and then the clamping assembly 18 on the annular base 1 is clamped and fixed to the outer wall of the pipe 3 again; S3. The clamping assembly 18 on the middle-layer annular base 1 is loosened from the outer wall of the pipe 3, and then the lifting and telescopic cylinder 2 between the middle-layer annular base 1 and the annular base 1 close to the predetermined moving direction is shortened, and at the same time, the lifting and telescopic cylinder 2 between the middle-layer annular base 1 and the annular base 1 away from the predetermined moving direction is extended to drive the middle-layer annular base 1 to move a predetermined distance in the predetermined direction, and then the clamping assembly 18 on the middle-layer annular base 1 is clamped and fixed to the pipe again. The outer wall of the pipeline 3; S5, the clamping component 18 on the annular base 1 that deviates from the predetermined moving direction is loosened from the outer wall of the pipeline 3, and then the lifting and telescopic cylinder 2 between the annular base 1 that deviates from the predetermined moving direction and the middle layer annular base 1 is shortened, so as to drive the layer annular base 1 that deviates from the predetermined moving direction to move a predetermined distance in the predetermined direction, and then the clamping component 18 on the annular base 1 that deviates from the predetermined moving direction is clamped and fixed to the outer wall of the pipeline 3 again; S6, repeat steps S2 to S5, and perform continuous creeping climbing along the pipeline 3. Preferably, the clamping component 18 fixes the corresponding layer of annular base 1 to the outer wall of the pipeline 3 through the friction self-locking effect, so that each layer of annular base 1 can be self-locked and fixed to the outside of the pipeline 3 without power. After being fixed, it is stable, reliable and energy-free, and will not fall due to loss of power. In order to make the climbing speed more uniform and the crawling process more stable, the stroke of each lifting and telescopic cylinder 2 for single extension or shortening is equal.

[0030] Specifically in the present embodiment, the clamping assembly 18 on each layer of the annular base 1 of the outer pipe crawling robot includes a plurality of climbing foot assemblies 5 arranged around the corresponding through hole 4, each climbing foot assembly 5 includes a foot rod 6, a friction foot pad 7, an elastic member 8 and a foot lifting telescopic cylinder 9, the foot rod 6 is laterally pivoted on the annular base 1, and is formed with a first arm 10 extending downwardly from the pivot point toward the through hole 4, and a second arm 11 extending from the pivot point toward the side away from the through hole 4, the friction foot pad 7 is fixed to the end of the first arm 10, the friction foot pad 7 faces the pipe 3, and forms an arc surface for fitting with the outer wall of the pipe 3, the elastic member 8 is arranged between the foot rod 6 and the annular base 1, specifically, a torsion spring arranged around the pivot axis between the foot rod 6 and the shaft seat 14, and one end of the torsion spring is fixed to the foot rod. 6, and the other end is fixed to the annular base 1, and the elastic force is used to drive the foot rod 6 to swing, so that the first arm 10 swings up to press the friction foot pad 7 against the outer wall of the pipe 3. In steps S1-S6, when the friction foot pad 7 is pressed against the outer wall of the pipe 3, the angle between the corresponding first arm 10 and the horizontal direction is smaller than the friction angle between the friction foot pad 7 and the outer wall of the pipe 3, so that self-locking can be generated. One end of the foot lifting telescopic cylinder 9 is fixed to the annular base 1, and the other end is used to push the foot rod 6 to swing. When the foot lifting telescopic cylinder 9 is extended, it pushes the second arm 11 upward to make the second arm 11 swing up, thereby driving the first arm 10 to swing down, and the friction foot pad 7 is moved away from the outer wall of the pipe 3. By using the principle of leverage, the low-power foot lifting telescopic cylinder 9 can provide sufficient power to overcome the elastic force of the elastic member 8, so that the foot rod 6 swings;

[0031] The working method of the external pipeline crawling robot is specifically as follows: in the initial state, each lifting telescopic cylinder 2 and each foot lifting telescopic cylinder 9 are not in motion, so that each layer of the annular base 1 moves through the climbing foot assembly 5 thereon and is self-lockingly fixed to the outer wall of the pipeline 3;

[0032] When climbing upward, the telescopic cylinders 9 on the uppermost annular base 1 simultaneously extend, pushing the corresponding second arm 11 upward, thereby driving the corresponding first arm 10 downward, so that the corresponding friction pad 7 leaves the outer wall of the pipe 3, and the uppermost annular base 1 is loosened from the pipe 3, and then the lifting and telescopic cylinders 2 between the uppermost annular base 1 and the middle-layer annular base 1 are synchronously extended, so that the uppermost annular base 1 moves upward to a predetermined height, and then the telescopic cylinders 9 on the uppermost annular base 1 are shortened, and the elastic member 8 is pressed against the elastic member 8. Under the elastic force of the second arm 11, the first arm 10 swings up, pressing the corresponding friction pad 7 against the outer wall of the pipe 3 again to restore the self-locking, and then the lifting and telescopic cylinder 9 on the annular base 1 of the middle layer extends at the same time, pushing the corresponding second arm 11 to swing up, thereby driving the corresponding first arm 10 to swing down, so that the corresponding friction pad 7 leaves the outer wall of the pipe 3, and the annular base 1 of the middle layer is loosened on the pipe 3, and then the lifting and telescopic cylinders 2 located between the uppermost annular base 1 and the middle layer annular base 1 are shortened synchronously, and the lifting and telescopic cylinders 2 located at the uppermost annular base 1 and the middle layer annular base 1 are shortened synchronously, and the lifting and telescopic cylinders 9 located at the uppermost annular base 1 are shortened synchronously. The lifting and telescopic cylinders 2 between the lower annular base 1 and the middle annular base 1 are extended synchronously, so that the annular base 1 of the middle layer moves upward to a predetermined height, and then the lifting and telescopic cylinders 9 on the annular base 1 of the middle layer are shortened. Under the elastic force of the elastic member 8, the second arm 11 swings down and the first arm 10 swings up, pressing the corresponding friction pad 7 against the outer wall of the pipe 3 again to restore the self-locking. Then, the lifting and telescopic cylinders 9 on the lowest annular base 1 are extended at the same time, pushing the corresponding second arm 11 to swing up, thereby driving the corresponding first arm 10 to swing down. , so that the corresponding friction pad 7 leaves the outer wall of the pipe 3, the lowest annular base 1 is loosened on the pipe 3, and then the lifting and telescopic cylinders 2 between the lowest annular base 1 and the middle annular base 1 are synchronously shortened, so that the lowest annular base 1 moves up to a predetermined height, and then the lifting and telescopic cylinders 9 on the lowest annular base 1 are shortened. Under the elastic force of the elastic member 8, the second arm 11 swings down and the first arm 10 swings up, pressing the corresponding friction pad 7 against the outer wall of the pipe 3 again, restoring self-locking, and repeating this process to achieve continuous upward climbing;

[0033] When climbing downward, the telescopic cylinders 9 on the lowest annular base 1 extend at the same time, pushing the corresponding second arm 11 upward, thereby driving the corresponding first arm 10 downward, so that the corresponding friction pad 7 leaves the outer wall of the pipe 3, and the lowest annular base 1 is loosened from the pipe 3, and then the lifting and telescopic cylinders 2 between the lowest annular base 1 and the middle annular base 1 are synchronously extended, so that the lowest annular base 1 descends to a predetermined height, and then the telescopic cylinders 9 on the lowest annular base 1 are shortened, and the elastic member 8 is pressed against the bottom of the annular base 1. Under the action of elastic force, the second arm 11 swings down and the first arm 10 swings up, pressing the corresponding friction pad 7 against the outer wall of the pipe 3 again to restore self-locking, and then the lifting and telescopic cylinder 9 on the annular base 1 of the middle layer simultaneously extends to push the corresponding second arm 11 to swing up, thereby driving the corresponding first arm 10 to swing down, so that the corresponding friction pad 7 leaves the outer wall of the pipe 3, and the annular base 1 of the middle layer is loosened from the pipe 3, and then the lifting and telescopic cylinders 2 located between the uppermost annular base 1 and the middle layer annular base 1 are synchronously extended, and the lifting and telescopic cylinders 2 located at the lowermost layer are synchronously extended. The lifting and telescopic cylinders 2 between the first and middle annular bases 1 are shortened synchronously, so that the annular base 1 of the middlemost layer descends to a predetermined height, and then the lifting and telescopic cylinders 9 on the annular base 1 of the middle layer are shortened. Under the elastic force of the elastic member 8, the second arm 11 swings down and the first arm 10 swings up, pressing the corresponding friction pad 7 against the outer wall of the pipe 3 again to restore the self-locking. Then, the lifting and telescopic cylinders 9 on the uppermost annular base 1 are extended at the same time, pushing the corresponding second arm 11 to swing up, thereby driving the corresponding first arm 10 to swing down. The corresponding friction pad 7 is made to leave the outer wall of the pipe 3, and the uppermost annular base 1 is loosened on the pipe 3, and then the lifting and telescopic cylinders 2 located between the uppermost annular base 1 and the middle-layer annular base 1 are made to shorten synchronously, so that the uppermost annular base 1 descends to a predetermined height, and then the lifting and telescopic cylinders 9 on the uppermost annular base 1 are shortened. Under the elastic force of the elastic member 8, the second arm 11 is swung down and the first arm 10 is swung up, so that the corresponding friction pad 7 is pressed against the outer wall of the pipe 3 again, and the self-locking is restored. This is repeated to achieve continuous downward climbing.

[0034] The above description is only a preferred embodiment of the present invention and is not a limitation on the design of this case. Any equivalent changes made based on the design key of this case shall fall within the protection scope of this case.

Claims

1. A working method of an external pipeline crawling robot, characterized in that: An external pipe crawling robot is used, comprising three layers of annular bases (1) arranged in sequence longitudinally, two adjacent layers of annular bases (1) are connected via a longitudinally arranged lifting and telescopic cylinder (2), each annular base (1) is provided at its center with a through hole (4) for allowing a pipe (3) to pass longitudinally, and is provided with a clamping assembly (18) for clamping and fixing on the pipe (3), the method comprising the following steps: S1, the three layers of the annular base (1) are respectively sleeved onto the pipe (3) through the through holes (4) thereon, and then the three layers of the annular base (1) are respectively clamped and fixed to the outer wall of the pipe (3) through their respective clamping components (18); S2, loosening the clamping assembly (18) on the annular base (1) close to the predetermined moving direction from the outer wall of the pipe (3), extending the lifting and telescopic cylinder (2) between the annular base (1) and the intermediate layer annular base (1), and then clamping and fixing the clamping assembly (18) on the annular base (1) to the outer wall of the pipe (3) again; S3, loosening the clamping assembly (18) on the middle layer annular base (1) and the outer wall of the pipe (3), then shortening the lifting and telescopic cylinder (2) between the middle layer annular base (1) and the annular base (1) close to the predetermined moving direction, and at the same time extending the lifting and telescopic cylinder (2) between the middle layer annular base (1) and the annular base (1) away from the predetermined moving direction, and then clamping the clamping assembly (18) on the middle layer annular base (1) again to fix it on the outer wall of the pipe (3); S5, loosening the clamping assembly (18) on the annular base (1) that deviates from the predetermined moving direction and the outer wall of the pipe (3), shortening the lifting and telescopic cylinder (2) between the annular base (1) that deviates from the predetermined moving direction and the intermediate layer annular base (1), and then clamping and fixing the clamping assembly (18) on the annular base (1) that deviates from the predetermined moving direction to the outer wall of the pipe (3) again; S6, repeat steps S2 to S5; The clamping assembly (18) on each layer of the annular base (1) includes a plurality of climbing foot assemblies (5) arranged around the corresponding through hole (4), each climbing foot assembly (5) includes a foot rod (6), a friction foot pad (7), an elastic member (8) and a foot lifting telescopic cylinder (9), the foot rod (6) is laterally pivoted on the annular base (1), and is formed with a first arm (10) extending downwardly from the pivot point toward the through hole (4), the friction foot pad (7) is fixed to the end of the first arm (10), the elastic member (8) is arranged between the foot rod (6) and the annular base (1), and utilizes elastic force to drive the foot rod (6) to swing, so that the first arm (10) swings up to press the friction foot pad (7) against the outer wall of the pipe (3), and one end of the foot lifting telescopic cylinder (9) is fixed to the annular base (1), and the other end is used to push the foot rod (6) to swing, so that the first arm (10) swings down to move the friction foot pad (7) away from the outer wall of the pipe (3).

2. The working method of an outer pipe crawling robot as claimed in claim 1, characterized in that: During the process of repeating steps S2 to S5 once, the stroke of each lifting and telescopic cylinder (2) extending or shortening in a single time is equal.

3. The working method of an outer pipe crawling robot as claimed in claim 1, characterized in that: In steps S1 to S6, the clamping component (18) fixes the corresponding layer of the annular base (1) to the outer wall of the pipe (3) through the friction self-locking effect.

4. The working method of an outer pipe crawling robot as claimed in claim 1, characterized in that: In steps S1-S6, the foot-lifting and telescopic cylinders (9) on each climbing foot assembly (5) on the corresponding layer of the annular base are shortened, and the corresponding friction foot pads (7) are pressed against the outer wall of the pipe (3) by means of the elastic force of the elastic member (8), so that the clamping assembly (18) is clamped and fixed to the outer wall of the pipe (3); the foot-lifting and telescopic cylinders (9) on each climbing foot assembly (5) on the corresponding layer of the annular base (1) are extended, so that the corresponding friction foot pads (7) leave the outer wall of the pipe (3), so that the clamping assembly (18) is loosened from the outer wall of the pipe (3).

5. The working method of an outer pipe crawling robot as claimed in claim 4, characterized in that: In steps S1-S6, when the friction pad (7) is pressed against the outer wall of the pipe (3), the angle between the corresponding first arm (10) and the horizontal direction is smaller than the friction angle between the friction pad (7) and the outer wall of the pipe (3), so as to produce self-locking.

6. The working method of an outer pipe crawling robot as claimed in claim 1, characterized in that: Two adjacent layers of annular bases (1) are connected via a plurality of lifting and telescopic cylinders (2) evenly distributed in an annular shape. In steps S2 to S6, the plurality of lifting and telescopic cylinders (2) between the two adjacent layers of annular bases (1) act synchronously.

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