An inspection robot traveling mechanism and method inside a concrete pumping pipeline

Abstract

The present invention discloses a traveling mechanism and method for an inspection robot inside a concrete pumping pipeline, which includes a robot main body, a suspension module, a locking module, and a driving module; the suspension module is arranged on the robot main body, the driving module is arranged at the end of the suspension module, and the locking module is arranged between the suspension module and the robot main body; the suspension module is used to provide a static friction force greater than the self-weight of the traveling mechanism and can change the working radius of the robot to adapt to the inner diameter of the pipeline; the locking module is used to lock the traveling mechanism; the driving module is used to provide the traveling power. The present invention can meet the requirements of moving in the complex environment inside the pump pipe.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a traveling mechanism and method for an inspection robot inside a concrete pumping pipeline. Background Art

[0002] Concrete pumping construction is the most widely used construction method in China. However, once the pump pipe is blocked during construction, it will cause serious quality accidents and huge economic losses. At present, the industry can only conduct fault investigation and repair after the accident, and cannot prevent the occurrence of accidents. Therefore, pre-inspecting the health status of the inner wall of the pump pipe has an important role in safety prevention.

[0003] The inner diameter of the pump pipe is generally divided into three specifications: 150mm, 125mm, and 80mm. The inner wall of the pipe is wet and slippery, and there may be a risk of foreign objects inside. The conveying pipeline is extremely long, and the pipeline has elbows, reduced-diameter pipelines, and a large number of vertical pipelines, resulting in the inability of ordinary pipeline robots to move flexibly inside the pump pipe. Therefore, a traveling mechanism that can meet the complex movement requirements inside the pumping pipeline has very important practical value in practical applications.

[0004] Existing pipeline robots in the prior art cannot meet the requirements of moving in the complex environment inside the pump pipe. Chinese Patent CN202080001663.9 discloses a pipeline robot, including a moving mechanism, a telescopic arm, and an elastic mechanism, which can move freely in contact with the pipe wall. However, firstly, this robot cannot provide enough pressure to lock and move the robot in a vertical pipe. Secondly, this robot lacks the ability to climb over obstacles and cannot move over foreign objects inside the pumping pipeline. Finally, the structure of this robot is cumbersome and heavy, and it cannot adapt to the complex environment of the inner wall of the pump pipe. Chinese Patent CN201810200615.7 discloses a circumferentially distributed crawler-wheel type pipeline inspection robot with active adaptive pipe diameter change, which moves inside the pipeline by combining crawler type and wheel type. This invention solves the difficulties of vertical movement and climbing over obstacles inside the pipeline. However, due to the complex design of the crawler drive mechanism and high failure rate, it is not suitable for long-distance movement in the complex working conditions inside the pump pipe.

[0005] Therefore, researching a small traveling mechanism that can move inside a pumping pipeline meeting national standards is a technical problem to be solved by those skilled in the art. Summary of the Invention

[0006] In view of this, the present invention provides a traveling mechanism and method for an inspection robot inside a concrete pumping pipeline, which can meet the requirements of moving in the complex environment inside the pump pipe.

[0007] The technical solution adopted by the present invention is as follows:

[0008] An inspection robot traveling mechanism inside a concrete pumping pipeline, comprising a robot main body, a suspension module, a locking module and a driving module;

[0009] The suspension module is arranged on the robot main body, the driving module is arranged at the end of the suspension module, and the locking module is arranged between the suspension module and the robot main body;

[0010] The suspension module is used to provide a static friction force greater than the self-weight of the traveling mechanism and can change the working radius of the robot to adapt to the inner diameter of the pipeline; the locking module is used to lock the traveling mechanism; the driving module is used to provide the traveling power.

[0011] Further, the locking module, the suspension module and the robot main body form a triangle.

[0012] Further, the suspension module includes six shock-absorbing rods;

[0013] The six shock-absorbing rods are divided into two groups. In each group, three shock-absorbing rods are evenly distributed around the central axis of the robot main body; the two groups of shock-absorbing rods are respectively fixedly connected to the front and rear ends of the robot main body and can rotate around the connection points. The two groups of shock-absorbing rods cross each other and the ends of the shock-absorbing rods face each other.

[0014] Further, the shock-absorbing rod includes an electric push rod, a spring connected to the end of the electric push rod, and a sleeve connector coaxial with the electric push rod; the sleeve connector is simultaneously connected to the spring and the driving module; the telescopic electric push rod is used to change the working radius of the robot.

[0015] Further, the locking module includes a pressurizing device and a pressure sensor installed at its end.

[0016] Further, the pressurizing device is one of a cylinder or an electric push rod; the cylinder is connected to an air pump installed on the robot main body through an air delivery pipeline.

[0017] Further, the driving module includes a stepping motor, a speed reducer and a tire; an anti-collision ring is installed on the tire. When the anti-collision ring contacts a foreign object, it transmits a stop command to the robot and the robot issues a warning message.

[0018] An inspection robot traveling method inside a concrete pumping pipeline, applying the above traveling mechanism, the traveling method includes the following steps:

[0019] S1. Place the robot at the starting position of the pipeline;

[0020] S2. The robot adjusts its own working radius through the suspension module to adapt to the inner diameter of the pipeline wall, and is driven by the driving module to enter the pump pipe;

[0021] S3. When the robot encounters a foreign object in the pipeline and the pressure it receives is greater than the critical pressure, the robot stops moving and activates the locking module; after the pressure reaches the threshold, the locking module is stopped.

[0022] S4. When the robot starts to move again, reset the locking module and let it climb over the obstacle.

[0023] S5. If the robot climbs over the obstacle within a certain period of time, repeat steps S2 - S4.

[0024] S6. Until the robot moves to the end of the pump pipe and automatically returns to the starting point of the pump pipe.

[0025] Further, the critical pressure N in step S3 is not greater than 5N.

[0026] Further, applying the above - mentioned traveling mechanism, step S3 is specifically: monitoring the locking pressure acting on the driving module through the pressure sensor, and stopping the locking module when the pressure reaches the threshold.

[0027] Beneficial effects:

[0028] 1. The suspension module and the locking module of the present invention can provide sufficient pressure to lock and move the robot in a vertical pipeline; secondly, since the suspension module of the present invention can change the working radius of the robot, it can adapt to the change of the inner diameter of the pipeline, and has the ability to climb over obstacles. The structure is simple and can meet the requirements of moving in the complex environment inside the pump pipe.

[0029] 2. The locking module, the suspension module and the robot body of the present invention form a triangle, and the structure is more stable.

[0030] 3. The two shock - absorbing rods in the suspension module of the present invention cross each other and the ends face each other, which can better adapt to the pipeline and move freely in contact with the pipe wall.

[0031] 4. The pressure sensor at the end of the locking module of the present invention can set the pressure threshold, which can prevent the damage of the driving wheel at the end of the robot and its supporting arm caused by over - pressurization of the locking module while ensuring the locking effect of the robot.

[0032] 5. The anti - collision ring of the present invention can stop the movement in time when the robot encounters a large obstacle that cannot be climbed over, preventing the robot from continuing to move forward and causing impact damage to the front - end camera and the robot body.

[0033] 6. The traveling method of the present invention can lock and move in a vertical pipeline, climb over and move foreign objects in the pumping pipeline, and realize the long - distance movement of the robot in the complex environment inside the pump pipe. Description of the Drawings

[0034] Figure 1This is a schematic diagram of the traveling mechanism of the present invention in the concrete pumping pipeline.

[0035] Among them, 1 - pumping pipeline, 2 - anti-collision ring, 3 - spring, 4 - electric push rod, 5 - locking module, 6 - tire, 7 - robot main body, 8 - air supply pipeline. Specific embodiments

[0036] The following is a detailed description of the present invention by way of examples in conjunction with the accompanying drawings.

[0037] The present invention provides a traveling mechanism for an inspection robot in a concrete pumping pipeline, including a robot main body 7, a suspension module, a locking module 5 and a driving module.

[0038] The suspension module is arranged on the robot main body 7, the driving module is arranged at the end of the suspension module, and the locking module 5 is arranged between the suspension module and the robot main body 7; the suspension module is used to provide a static friction force greater than the self-weight of the traveling mechanism and can change the working radius of the robot to adapt to the inner diameter of the pipeline; the locking module 5 is used to lock the traveling mechanism; the driving module is used to provide the traveling power.

[0039] As Figure 1 shown, in this embodiment, the suspension module includes six shock-absorbing rods; the six shock-absorbing rods are divided into two groups, and three shock-absorbing rods in each group are evenly distributed around the central axis of the robot main body 7; the two groups of shock-absorbing rods are respectively fixedly connected to the mounting plates at the front and rear ends of the robot main body 7 and can rotate around the connection points, and the two groups of shock-absorbing rods cross each other and the ends of the shock-absorbing rods face each other.

[0040] Preferably, the shock-absorbing rod includes an electric push rod 4, a spring 3 connected to the end of the electric push rod 4, and a sleeve connecting piece coaxial with the electric push rod 4; the sleeve connecting piece is simultaneously connected to the spring 3 and the driving module; the telescopic electric push rod 4 is used to change the working radius of the robot.

[0041] The mounting plates at the front and rear ends of the robot main body 7 are fixedly connected by a connecting shaft, the locking module 5 is fixed on the connecting shaft, and the locking module 5, the suspension module and the connecting shaft of the robot main body 7 to which it is fixedly connected form a triangle. The locking module 5 includes a pressurizing device and a pressure sensor installed at its end. The pressure sensor is used to monitor the locking pressure acting on the driving module and feedback it to the robot. The pressurizing device is one of a cylinder or an electric push rod; the cylinder is connected to an air pump installed on the robot main body 7 through an air supply pipeline 8.

[0042] The driving module includes a stepping motor, a speed reducer and a tire 6; an anti-collision ring 2 is installed on the tire 6, and when the anti-collision ring 2 contacts a foreign object, it transmits a stop command to the robot and the robot issues a warning message.

[0043] Applied to the above-mentioned inspection robot mechanism in the concrete pumping pipeline, the steps of the traveling method are as follows:

[0044] S1. Place the robot at the starting position of the pipeline;

[0045] S2. The robot adjusts its working radius through the electric push rod 4 to adapt to the inner wall diameter of the pumping pipeline 1, and is driven by the driving module into the pump pipe;

[0046] S3. When the anti-collision ring 2 of the robot touches a foreign object in the pipeline and the pressure received is greater than the critical pressure N, and the critical pressure N is not greater than 5N, the robot stops moving and activates the locking module 5; Monitor the locking pressure acting on the driving module through the pressure sensor, and stop the locking module 5 after the pressure reaches the threshold;

[0047] S4. When the robot starts to move again, reset the locking module 5 and climb over the obstacle;

[0048] S5. If the robot climbs over the obstacle within a certain time, repeat steps S2 - S4;

[0049] S6. Until the robot moves to the end of the pump pipe and automatically returns to the starting point of the pump pipe.

[0050] In summary, the above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A traveling mechanism for an inspection robot inside a concrete pumping pipeline, characterized in that It includes robot body, suspension module, locking module and driving module; The suspension module is arranged on the robot body, the driving module is arranged at the end of the suspension module, and the locking module is arranged between the suspension module and the robot body; The suspension module is used to provide a static friction force greater than the weight of the travel mechanism and can change the robot's working radius to adapt to the inner diameter of the pipeline; the locking module is used to lock the travel mechanism; the driving module is used to provide travel power; The locking module, the suspension module and the robot body form a triangle; The suspension module includes six shock-absorbing rods; the six shock-absorbing rods are divided into two groups, with three shock-absorbing rods in each group evenly distributed around the central axis of the robot body; the two groups of shock-absorbing rods are fixedly connected to the front and rear ends of the robot body respectively and can rotate around the connection point, and the two groups of shock-absorbing rods cross each other, with the ends of the shock-absorbing rods facing each other; The shock-absorbing rod includes an electric push rod, a spring connected to the end of the electric push rod, and a sleeve connector coaxial with the electric push rod; the sleeve connector is connected to the spring and the drive module at the same time; the telescopic electric push rod is used to change the working radius of the robot; The locking module includes a pressurizing device and a pressure sensor installed at the end thereof.

2. The traveling mechanism of the inspection robot inside the concrete pumping pipeline according to claim 1, wherein, The pressurizing device is a cylinder or an electric push rod; the cylinder is connected to an air pump installed on the robot body through an air pipeline.

3. The traveling mechanism of the inspection robot inside the concrete pumping pipeline according to claim 1, wherein, The driving module includes a stepper motor, a reducer and a tire; an anti-collision ring is installed on the tire. When the anti-collision ring comes into contact with a foreign object, a stop command is transmitted to the robot and the robot issues an early warning message.

4. A method for moving an inspection robot in a concrete pumping pipeline, characterized in that: Applying the traveling mechanism according to claim 1, the traveling method comprises the following steps: S1. Place the robot at the starting point of the pipeline; S2. The robot adjusts its working radius to adapt to the inner wall diameter of the pipe through the suspension module, and is driven by the driving module to enter the pump pipe; S3. When the robot encounters a foreign object in the pipeline and the pressure it receives is greater than a critical pressure, the robot stops moving and activates the locking module; the locking module stops when the pressure reaches a threshold; S4, when the robot starts to move again, the locking module is reset and the robot climbs over the obstacle; S5: If the robot climbs over the obstacle within a certain time, then steps S2-S4 are repeated; S6. Until the robot moves to the end of the pump tube, it automatically returns to the starting point of the pump tube.

5. The method for moving a patrol robot in a concrete pumping pipeline according to claim 4, characterized in that: The critical pressure N in step S3 is not greater than 5N.

6. The method for moving a patrol robot in a concrete pumping pipeline according to claim 4 or 5, characterized in that: According to the traveling mechanism of claim 3, step S3 specifically includes: monitoring the locking pressure acting on the driving module through the pressure sensor, and stopping the locking module when the pressure reaches a threshold.

Images