An obstacle-avoiding pipeline inspection robot

Abstract

The present invention discloses an obstacle avoidance pipeline inspection robot. The two walking parts of the robot are respectively threadedly connected to the two ends of the fuselage, and the detection head is installed on one of the walking parts; the fuselage includes a main beam and an operating table, the operating table is located directly below the main beam, and the two opposite sides of the operating table are mounted on the two ends of the main beam through vertically arranged connecting plates; the two walking parts are respectively coaxially threadedly connected to the two ends of the main beam. The present invention changes the forward direction of the roller through a steering joint, changes the position of the supporting legs on the circumference of the inspected pipeline to avoid obstacles inside the pipeline, adapts to more working environments, can complete obstacle avoidance while moving forward, and can efficiently complete the obstacle avoidance function. The present invention can also operate inside pipelines of different diameters through a variable diameter joint, and is suitable for different scenarios.

Description

Technical Field

[0001] The invention relates to a detection robot, in particular to an obstacle-avoiding pipeline detection robot. Background Art

[0002] Due to the narrow and harsh working space inside the pipeline, when the pipeline is damaged, fails or needs regular inspection, it is not only time-consuming and laborious to complete the task manually, but also it may be impossible to carry out manual work due to the working environment. At present, the existing pipeline inspection robots can only move in the axial direction of the inspected pipeline, and cannot cross obstacles (such as pipeline damage, etc.). Therefore, a pipeline inspection robot with obstacle avoidance function is needed. Summary of the invention

[0003] In order to solve the problems existing in the background technology, the present invention provides an obstacle-avoiding pipeline inspection robot.

[0004] The technical solution adopted by the present invention is:

[0005] The obstacle avoidance pipeline detection robot of the present invention comprises a fuselage, two walking parts and a detection head, the two walking parts are respectively threadedly connected to the two ends of the fuselage, and the detection head is installed on one of the walking parts; the fuselage comprises a main beam and an operating table, the main beam is a tubular structure and is parallel to the forward direction of the detection robot, the operating table for installing the external actuator is a plate-like structure, the operating table is located directly below the main beam, and the two opposite sides of the operating table are mounted on the two ends of the main beam through vertically arranged connecting plates; the two walking parts are respectively connected to the two ends of the main beam through connecting threads and coaxial threads. The detection head is specifically a detection device such as a camera or a sensor; the external actuator is specifically a mechanical arm, etc.

[0006] Each walking part includes a support leg circulation assembly and two support leg assemblies. The support leg circulation assembly is a tubular structure. The inner circumference of the support leg circulation assembly is a threaded surface. The inner circumference of the support leg circulation assembly is threadedly connected to a fixing bolt, and then coaxially threadedly connected to one end of the main beam through the fixing bolt; the ends of the two support leg assemblies are both mounted on the outer circumference of the support leg circulation assembly, and the outer circumference of the support leg circulation assembly is also mounted with a thrust bearing I, a thrust bearing II and a thrust bearing III. The thrust bearing II is mounted between the ends of the two support leg assemblies, and the thrust bearing I and the thrust bearing III are mounted at both ends of the outer circumference of the support leg circulation assembly and are located on both sides of the ends of the two support leg assemblies; the detection head is installed on the fixing bolt and faces the forward direction of the detection robot.

[0007] Each support leg assembly includes a swivel seat, a reducing joint, a steering joint, a support leg and a walking roller assembly. One end of the swivel seat is an annular column, and the other end of the swivel seat is a connecting block. The connecting block is bent toward the annular column. The end face of one of the bent sections of the connecting block is connected to the outer peripheral surface of the annular column and is integrally formed with the annular column. The annular column is mounted on the outer peripheral surface of the support leg swivel assembly and is located between thrust bearing I and thrust bearing II or between thrust bearing II and thrust bearing III; the end face of the other bent section of the connecting block is connected to the reducing joint, the steering joint, the support leg and the walking roller assembly in sequence.

[0008] The variable diameter joint comprises a positioning seat I, a positioning column, a torsion spring and a positioning seat II. The positioning seat I and the positioning seat II are of the same cylindrical shape. The outer peripheral surface of the positioning seat I is connected to the end surface of the other bent section of the connecting block; the end surfaces of the barrel openings of the positioning seat I and the positioning seat II are coaxially connected, and a columnar space is formed between the positioning seat I and the positioning seat II. The positioning column and the torsion spring are installed in the columnar space. One end surface of the positioning column is coaxially connected to the inner end surface of the positioning seat I, and the other end of the positioning column is coaxially connected to the inner end surface of the positioning seat II. The diameter of the positioning column is smaller than the inner diameter of the positioning seat I and the positioning seat II. The torsion spring is mounted on the positioning column, and both ends of the torsion spring extend one end parallel to The positioning section of its own central axis, the end faces of the positioning seat I and the positioning seat II facing the two positioning sections are provided with through positioning holes parallel to their own central axis, and the two positioning sections are respectively inserted into the two positioning holes; when detecting the pipeline, the positions of the two positioning sections of the torsion spring can be adjusted according to the inner diameter of the pipeline so that the positioning seat I and the positioning seat II can be rotated to a suitable position along their own axis, so that the relative position between the revolving seat and the support leg can be rotated to adapt to the inner diameter of the pipeline; the outer peripheral surface of the positioning seat II is connected to the steering joint through a connecting plate, one side of the connecting plate is connected to the outer peripheral surface of the positioning seat II, and the other side of the connecting plate is connected to the steering joint. The variable diameter joint enables the support leg assembly to expand and contract radially along the pipeline being detected. The positioning seat 1, the torsion spring, and the positioning seat are used in combination, so that the support leg assembly always extends outward in the radial direction of the pipeline being detected, forming pressure on the pipeline being detected.

[0009] The steering joint includes a steering motor and a reducer. The steering joint and the reducer are connected through a connecting plate. The reducer is connected to one side of the connecting plate. The body of the steering motor is installed on the other side of the connecting plate. The output shaft of the steering motor is perpendicular to the plate surface of the connecting plate and faces the opposite direction of the connecting plate to be synchronously connected to the input shaft of the reducer. The output shaft of the reducer is synchronously connected to the root end of the support leg through a spline. The reducer includes a sun gear and three planetary gears. The output shaft of the steering motor is synchronously connected to the sun gear, and the output shaft of the reducer is synchronously connected to the root end of the support leg. The steering joint makes the rest of the support leg assembly rotate, changes the forward direction of the roller, and makes the support leg move in the circumference of the pipeline being inspected to avoid obstacles.

[0010] The support leg includes a steering seat and two support plates. The steering seat is synchronously connected to the output shaft of the reducer. The side of the steering seat is connected to one end of the two support plates. The two support plates are arranged opposite to each other and parallel to the output shaft of the reducer. A walking roller assembly is installed between the other ends of the two support plates.

[0011] The walking roller assembly includes a transmission motor, a transmission gear I, a transmission gear II and a roller. The central axis of the roller is movably connected vertically between the other ends of the two support plates of the support leg. The body of the transmission motor is installed between the two support plates and close to the roller. One of the support plates is installed with a transmission gear I and a transmission gear II parallel to itself on a side away from the transmission motor and the roller. The transmission gear I and the transmission gear II are meshed with each other. The transmission gear I is facing the transmission motor and is coaxially and synchronously connected to the output shaft of the transmission motor. The transmission gear II is facing the roller and is coaxially and synchronously connected to the central axis of the roller. The steering joint can change the forward direction of the roller through the support leg.

[0012] The beneficial effects of the present invention are:

[0013] 1. The robot of the present invention changes the forward direction of the roller through the steering joint arranged on the supporting leg, changes the position of the supporting leg on the circumference of the detected pipeline to avoid obstacles inside the pipeline, and adapts to more working environments.

[0014] 2. The robot of the present invention can avoid obstacles while moving forward, and can efficiently complete the obstacle avoidance function.

[0015] 3. The supporting legs of the robot of the present invention are provided with variable diameter joints, which can operate inside pipes of different diameters, can be applied to different pipe inspections, and are suitable for different scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 This is a schematic diagram of the main beam structure of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the walking part of the present invention;

[0019] Figure 4 This is a schematic diagram of the supporting leg assembly structure of the present invention;

[0020] Figure 5 This is a schematic diagram of the structure of the support leg turnover assembly of the present invention;

[0021] Figure 6 It is a schematic diagram of the structure of the variable diameter joint and the steering joint of the present invention;

[0022] Figure 7 This is a schematic diagram of a normal walking posture of the present invention;

[0023] Figure 8 This is a schematic diagram of the obstacle avoidance walking posture of the present invention;

[0024] In the figure: 2, fuselage, 21, main beam, 22, operating table, 221, connecting thread, 3, walking part, 31, support leg turnover assembly, 311, fixing bolt, 312, thrust bearing I, 313, thrust bearing II, 314, thrust bearing III, 32, support leg assembly, 321, turnover seat, 322, reducing joint, 3221, positioning seat I, 32211, positioning hole, 32212, fixed Position column, 3222 torsion spring, 3223, positioning seat II, 323, steering joint, 3231, steering motor, 3232, reducer, 32321, spline, 324, support leg, 3241, steering seat, 3242, support plate, 325, walking roller assembly, 3251, transmission motor, 3252, transmission gear I, 3253, transmission gear II, 3254, roller, 4, detection head. DETAILED DESCRIPTION

[0025] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 and Figure 2 As shown, the obstacle avoidance pipeline inspection robot includes a body 2, two walking parts 3 and a detection head 4. The two walking parts 3 are respectively threadedly connected to the two ends of the body 2, and the detection head 4 is installed on one of the walking parts 3; the body 2 includes a main beam 21 and an operating table 22. The main beam 21 is a tubular structure and is parallel to the forward direction of the inspection robot. The operating table 22 for installing the external actuator is a plate-like structure. The operating table 22 is located directly below the main beam 21. The two opposite sides of the operating table 22 are sleeved on the two ends of the main beam 21 through vertically arranged connecting plates; the two walking parts 3 are respectively coaxially threadedly connected to the two ends of the main beam 21 through connecting threads 221. The detection head 4 is specifically a detection device such as a camera or a sensor; the external actuator is specifically a mechanical arm, etc.

[0027] like Figure 3 and Figure 5As shown, each walking part includes a support leg circulation assembly 31 and two support leg assemblies 32. The support leg circulation assembly 31 is a tubular structure. The inner circumference of the support leg circulation assembly 31 is a threaded surface. The inner circumference of the support leg circulation assembly 31 is threadedly connected to a fixing bolt 311, and then coaxially threadedly connected to one end of the main beam 21 through the fixing bolt 311; the ends of the two support leg assemblies 32 are both mounted on the outer circumference of the support leg circulation assembly 31, and the outer circumference of the support leg circulation assembly 31 is also mounted with a thrust bearing I 312, a thrust bearing II 313 and a thrust bearing III 314. The thrust bearing II 313 is mounted between the ends of the two support leg assemblies 32, and the thrust bearing I 312 and the thrust bearing III 314 are mounted at both ends of the outer circumference of the support leg circulation assembly 31 and are located on both sides of the ends of the two support leg assemblies 32; the detection head 4 is installed on the fixing bolt 311 and faces the forward direction of the detection robot.

[0028] like Figure 4 As shown, each support leg assembly 32 includes a swivel seat 321, a variable diameter joint 322, a steering joint 323, a support leg 324 and a walking roller assembly 325, one end of the swivel seat 321 is an annular column, the other end of the swivel seat 321 is a connecting block, the connecting block is bent toward the annular column, the end face of one section of the bending of the connecting block is connected to the outer peripheral surface of the annular column and is integrally formed with the annular column, the annular column is sleeved on the outer peripheral surface of the support leg swivel assembly 31 and is located between the thrust bearing I 312 and the thrust bearing II 313 or between the thrust bearing II 313 and the thrust bearing III 314; the end face of the other section of the bending of the connecting block is connected to the variable diameter joint 322, the steering joint 323, the support leg 324 and the walking roller assembly 325 in sequence.

[0029] like Figure 6As shown, the variable diameter joint 322 includes a positioning seat I 3221, a positioning column 32212, a torsion spring 3222 and a positioning seat II 3223. The positioning seat I 3221 and the positioning seat II 3223 are of the same cylindrical shape. The outer peripheral surface of the positioning seat I 3221 is connected to the end surface of the other bent section of the connecting block; the end surfaces of the barrels of the positioning seat I 3221 and the positioning seat II 3223 are coaxially connected, and a columnar space is formed between the positioning seat I 3221 and the positioning seat II 3223. The positioning column 32212 and the torsion spring 3222 are installed in the columnar space. One end surface of the positioning column 32212 is coaxially connected to the inner end surface of the positioning seat I 3221, and the other end of the positioning column 32212 is coaxially connected to the inner end surface of the positioning seat II 3223. The diameter of the positioning column 32212 is smaller than the inner diameter of the positioning seat I 3221 and the positioning seat II 3223. The torsion spring 3222 is sleeved on the positioning seat On the column 32212, both ends of the torsion spring 3222 extend a positioning section with one end parallel to its own central axis. The end faces of the positioning seat I 3221 and the positioning seat II 3223 facing the two positioning sections are provided with through positioning holes 32211 parallel to their own central axes, and the two positioning sections are respectively inserted into the two positioning holes 32211; when detecting the pipeline, the positions of the two positioning sections of the torsion spring 3222 can be adjusted according to the inner diameter of the pipeline so that the positioning seat I 3221 and the positioning seat II 3223 rotate to a suitable position along their own axis, so that the relative position between the revolving seat 321 and the support leg 324 rotates to adapt to the inner diameter of the pipeline; the outer peripheral surface of the positioning seat II 3223 is connected to the steering joint 323 through a connecting plate, one side of the connecting plate is connected to the outer peripheral surface of the positioning seat II 3223, and the other side of the connecting plate is connected to the steering joint 323. The variable diameter joint 322 enables the support leg assembly 32 to expand and contract radially along the pipeline being detected. The positioning seat 3221, the torsion spring 3222 and the positioning seat 3223 are used in coordination, so that the support leg assembly 32 always extends outward in the radial direction of the pipeline to be inspected, thereby exerting pressure on the pipeline to be inspected.

[0030] like Figure 6As shown, the steering joint 323 includes a steering motor 3231 and a reducer 3232. The steering joint 323 and the reducer joint 322 are connected through a connecting plate. The reducer joint 322 is connected to one side of the connecting plate. The body of the steering motor 3231 is installed on the other side of the connecting plate. The output shaft of the steering motor 3231 is perpendicular to the plate surface of the connecting plate and faces the opposite direction of the connecting plate, and then synchronously connected to the input shaft of the reducer 3232. The output shaft of the reducer 3232 is synchronously connected to the root end of the support leg 324 through a spline 32321. The reducer 3232 includes a sun gear and three planetary gears. The output shaft of the steering motor 3231 is synchronously connected to the sun gear, and the output shaft of the reducer 3232 is synchronously connected to the root end of the support leg 324. The steering joint 323 makes the rest of the support leg assembly 32 rotate, changes the forward direction of the roller 3254, and makes the support leg 32 move in the circumferential direction of the detected pipeline to avoid obstacles.

[0031] The supporting leg 324 includes a steering seat 3241 and two supporting plates 3242. The steering seat 3241 is synchronously connected to the output shaft of the reducer 3232. The side of the steering seat 3241 is connected to one end of the two supporting plates 3242. The two supporting plates 3242 are arranged opposite to each other and parallel to the output shaft of the reducer 3232. A walking roller assembly 325 is installed between the other ends of the two support plates 3242.

[0032] like Figure 4 As shown, the walking roller assembly 325 includes a transmission motor 3251, a transmission gear I 3252, a transmission gear II 3253 and a roller 3254, the central axis of the roller 3254 is movably and vertically connected between the other ends of the two support plates 3242 of the support leg 324, the body of the transmission motor 3251 is installed between the two support plates 3242 and close to the roller 3254, one of the support plates 3242 is installed with a transmission gear I 3252 and a transmission gear II 3253 parallel to itself on a side surface away from the transmission motor 3251 and the roller 3254, the transmission gear I 3252 and the transmission gear II 3253 are meshed with each other, the transmission gear I 3252 is opposite to the transmission motor 3251 and is coaxially and synchronously connected to the output shaft of the transmission motor 3251, and the transmission gear II 3253 is opposite to the roller 3254 and is coaxially and synchronously connected to the central axis of the roller 3254. The steering joint 323 can change the forward direction of the roller 3254 through the supporting leg 324 .

[0033] The specific implementation process of the present invention is as follows:

[0034] like Figure 7The figure shows the normal walking state of the present invention, with two support leg assemblies 32 supporting downwards, and the rollers 3254 on the same side are located at the same position on the circumference of the pipeline being inspected. The steering motors 3231 arranged on the left rear and right front support legs 324 rotate to change the forward direction of the corresponding rollers 3254. Figure 8 As shown, due to the change in the forward direction of the rollers 3254 provided on the left rear and right front support legs 324, the positions of the left rear and right front support legs 324 in the circumferential direction of the inspected pipeline change, and the robot enters the obstacle avoidance state to avoid obstacles in the inspected pipeline. In the obstacle avoidance state, the four support legs 324 can rotate clockwise or counterclockwise in the circumferential direction while advancing in the axial direction of the inspected pipeline through the steering joints 323, thereby crossing obstacles.

[0035] The above content describes the use principle, features and beneficial effects of the present invention. Relevant personnel in the field can understand from the above content that the above content does not limit the present invention. The above embodiments and descriptions describe the basic principles and features of the present invention. Under the premise of conforming to the concept of the present invention, the present invention can also be subjected to various changes and improvements, and these improvements should fall within the scope of protection claimed by the present invention.

Claims

1. An obstacle-avoiding pipeline inspection robot, characterized in that: The robot comprises a body (2), two walking parts (3) and a detection head (4), wherein the two walking parts (3) are respectively threadedly connected to the two ends of the body (2), and the detection head (4) is installed on one of the walking parts (3); the body (2) comprises a main beam (21) and an operating table (22), wherein the main beam (21) is a tubular structure and is parallel to the forward direction of the detection robot, and the operating table (22) for installing an external actuator is a plate-like structure, and the operating table (22) is located directly below the main beam (21), and two opposite sides of the operating table (22) are sleeved on the two ends of the main beam (21) through vertically arranged connecting plates; the two walking parts (3) are respectively coaxially threadedly connected to the two ends of the main beam (21); Each walking part comprises a support leg revolving assembly (31) and two support leg assemblies (32); the support leg revolving assembly (31) is a tubular structure; the inner circumference of the support leg revolving assembly (31) is a threaded surface; the inner circumference of the support leg revolving assembly (31) is threadedly connected to a fixing bolt (311), and then coaxially threadedly connected to one end of the main beam (21) through the fixing bolt (311); the ends of the two support leg assemblies (32) are both sleeved on the outer circumference of the support leg revolving assembly (31); A thrust bearing I (312), a thrust bearing II (313) and a thrust bearing III (314) are also mounted on the outer peripheral surface of the support leg assembly (31); the thrust bearing II (313) is mounted between the ends of the two support leg assemblies (32); the thrust bearing I (312) and the thrust bearing III (314) are mounted on both ends of the outer peripheral surface of the support leg revolving assembly (31) and are located on both sides of the ends of the two support leg assemblies (32); the detection head (4) is mounted on the fixing bolt (311) and faces the forward direction of the detection robot; Each support leg assembly (32) comprises a swivel seat (321), a variable diameter joint (322), a steering joint (323), a support leg (324) and a walking roller assembly (325); one end of the swivel seat (321) is an annular column; the other end of the swivel seat (321) is a connecting block; the connecting block is bent toward the annular column; the end face of one of the bent sections of the connecting block is connected to the outer peripheral surface of the annular column and is integrally formed with the annular column; the annular column is sleeved on the outer peripheral surface of the support leg swivel assembly (31) and is located between the thrust bearing I (312) and the thrust bearing II (313) or between the thrust bearing II (313) and the thrust bearing III (314); the end face of the other bent section of the connecting block is sequentially connected to the variable diameter joint (322), the steering joint (323), the support leg (324) and the walking roller assembly (325); The variable diameter joint (322) comprises a positioning seat I (3221), a positioning column (32212), a torsion spring (3222) and a positioning seat II (3223). The positioning seat I (3221) and the positioning seat II (3223) are of the same cylindrical shape. The outer peripheral surface of the positioning seat I (3221) is connected to the end surface of the other bent section of the connecting block. The end surfaces of the cylinder mouths of the positioning seat I (3221) and the positioning seat II (3223) are coaxially connected. A columnar space is formed between the positioning seat I (3221) and the positioning seat II (3223). The positioning column (32212) and the torsion spring (3222) are installed in the columnar space. One end surface of the positioning column (32212) is coaxially connected to the inner end surface of the positioning seat I (3221). The other end of the positioning column (32212) is coaxially connected to the inner end surface of the positioning seat II ( The inner end surface of the positioning seat I (3221) and the positioning seat II (3223) are connected to the inner end surface of the positioning seat I (3221), the diameter of the positioning column (32212) is smaller than the inner diameter of the positioning seat I (3221) and the positioning seat II (3223), the torsion spring (3222) is sleeved on the positioning column (32212), both ends of the torsion spring (3222) extend a positioning section with one end parallel to the central axis thereof, and the end surfaces of the positioning seat I (3221) and the positioning seat II (3223) facing the two positioning sections are provided with through positioning holes (32211) parallel to the central axis thereof, the two positioning sections are respectively inserted into the two positioning holes (32211), the outer peripheral surface of the positioning seat II (3223) is connected to the steering joint (323) through a connecting plate, one side of the connecting plate is connected to the outer peripheral surface of the positioning seat II (3223), and the other side of the connecting plate is connected to the steering joint (323); The steering joint (323) comprises a steering motor (3231) and a reducer (3232); the steering joint (323) and the reducer (322) are connected via a connecting plate; the reducer (322) is connected to one side of the connecting plate; the body of the steering motor (3231) is mounted on the other side of the connecting plate; the output shaft of the steering motor (3231) is perpendicular to the plate surface of the connecting plate and faces the opposite direction of the connecting plate and is synchronously connected to the input shaft of the reducer (3232); the output shaft of the reducer (3232) is synchronously connected to the root end of the support leg (324).

2. The obstacle-avoiding pipeline inspection robot according to claim 1, characterized in that: The support leg (324) comprises a steering seat (3241) and two support plates (3242); the steering seat (3241) is synchronously connected to the output shaft of the reducer (3232); the side of the steering seat (3241) is connected to one end of the two support plates (3242); the two support plates (3242) are arranged opposite to and parallel to the output shaft of the reducer (3232); and a walking roller assembly (325) is installed between the other ends of the two support plates (3242).

3. The obstacle-avoiding pipeline inspection robot according to claim 2, characterized in that: The walking roller assembly (325) comprises a transmission motor (3251), a transmission gear I (3252), a transmission gear II (3253) and a roller (3254), wherein the central axis of the roller (3254) is movably connected vertically between the other ends of the two support plates (3242) of the support leg (324), and the body of the transmission motor (3251) is installed between the two support plates (3242) and close to the roller (3254), wherein one of the support plates (3242) is located away from the transmission motor ( A transmission gear I (3252) and a transmission gear II (3253) parallel to the transmission motor (3251) and the roller (3254) are installed on one side surface of the transmission motor (3251) and the roller (3254), and the transmission gear I (3252) and the transmission gear II (3253) are meshed with each other. The transmission gear I (3252) faces the transmission motor (3251) and is coaxially and synchronously connected to the output shaft of the transmission motor (3251), and the transmission gear II (3253) faces the roller (3254) and is coaxially and synchronously connected to the central axis of the roller (3254).

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