A pipeline inspection and decontamination robot

Abstract

The present invention belongs to the field of pipeline robots, and in particular, relates to a pipeline inspection and decontamination robot. The robot comprises a body, a robotic arm A, a nozzle, a robotic arm B, a sensor A, a robotic arm C, a cleaning brush, a robotic arm D, a sensor B, a traveling mechanism, and a motor Y. The cylindrical body is equipped with a wheeled traveling mechanism that, driven by motor Y, can rotate about its axis and extend and retract radially along the pipeline from both sides. When the robot encounters an obstacle in the pipeline, robotic arms A, B, C, and D can replace the wheeled traveling mechanism and navigate the obstacle, thereby improving the robot's inspection and decontamination efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline robots, and in particular relates to a pipeline detection and decontamination robot. Background Art

[0002] The current measurement and decontamination equipment still has the following problems:

[0003] Detection, decontamination and walking belong to three independent structures, which work independently of each other, and the equipment is highly complex.

[0004] The walking mechanism generally adopts wheel walking, and has poor obstacle-crossing ability when encountering obstacles in the pipeline.

[0005] Currently, there are two general approaches to inspection and decontamination: one employs multiple inspection and decontamination heads evenly distributed around the circumference. The other employs a single inspection and decontamination head that rotates about an axis to inspect and decontaminate the pipe wall. Clearly, the single inspection and decontamination head approach is less expensive.

[0006] The present invention draws on the use of a detection head and a decontamination head rotating around an axis to design a robot that uses mechanical arms and wheeled walking to detect and remove contamination. The robot mainly uses wheeled walking, and uses multiple mechanical arms to rotate around the axis to detect and remove contamination, and the mechanical arms are used to overcome obstacles in the pipeline. Summary of the Invention

[0007] In order to solve the above-mentioned defects in the prior art, the present invention discloses a pipeline inspection and decontamination robot, which is implemented by adopting the following technical solutions.

[0008] A pipeline inspection and decontamination robot comprises a body, a robotic arm A, a spray head, a robotic arm B, a sensor A, a robotic arm C, a cleaning brush, a robotic arm D, the sensor B, a walking mechanism, and a motor Y. The cylindrical body is provided with a wheeled walking mechanism that, driven by the motor Y, can rotate about its axis and can extend and retract from both sides along the radial direction of the pipeline. The front end of the body is provided with a robotic arm A with a spray head at its end and a robotic arm B with a wireless sensor A at its end. The spray head sprays a decontaminant at a high pressure onto the pipeline wall, and the sensor A detects the decontamination status of the pipeline wall by the decontaminant. The rear end of the body is provided with a robotic arm C with a cleaning brush at its end and a robotic arm D with a wireless sensor B at its end. The cleaning brush performs a secondary cleaning on dirt detected by the sensor A that has not been removed by the decontaminant, and the sensor B performs coating and crack detection on the cleaned pipeline wall. The robotic arms A and B have structures that enable the spray head and the sensor A to move circumferentially around the body axis simultaneously, and the robotic arms C and D have structures that enable the cleaning brush and the sensor B to move circumferentially around the body axis simultaneously.

[0009] When the robot encounters an obstacle, robotic arm A, robotic arm B, robotic arm C and robotic arm D can replace the walking mechanism to walk over the obstacle.

[0010] As a further improvement of the present technology, the walking mechanism includes a ring sleeve E, a slide A, a lifting motor, a scissors frame, a walking seat, wheels, and a walking motor, wherein the ring sleeve E is nested and rotated on the fuselage under the drive of the motor A; on the two symmetrical planes on the outside of the ring sleeve E, there are two slides A driven by the lifting motor sliding synchronously toward or away from each other in the direction of the fuselage axis; each pair of slides A is hinged with a scissors frame driven to rise and fall by it, and a walking seat that rises and falls with it is installed at the end of the scissors frame, and two pairs of wheels that are synchronously driven by the walking motor and cooperate with the pipe wall are symmetrically installed on the walking seat.

[0011] As a further improvement of the present technology, the ring gear C on the ring sleeve E is engaged with the gear C on the output shaft of the motor Y on the fuselage; racks are installed on the two slides A corresponding to the scissor frame, and the two racks are engaged with the gear D on the ring sleeve E. A screw C is threaded on one slide A, and the screw C is connected to the output shaft of the corresponding lifting motor; one side of the upper end of the scissor frame is hinged to the corresponding walking seat, and the other side is hinged to the slide B sliding on the walking seat; the two pairs of wheels on the walking seat are installed thereon through wheel axles, and pulleys C are installed on the two wheel axles, and the two pulleys C are connected by a synchronous belt C; one wheel axle on the walking seat is connected to the output shaft of the corresponding walking motor.

[0012] As a further improvement of the present technology, the robotic arm A includes a motor A, a connecting rod A, a connecting rod B, a motor B, a connecting rod C, a motor C, a connecting rod D, a motor D, a connecting rod E, a motor E, a connecting rod F, a motor F, a liquid pipe A, a liquid pipe B, a rubber pad, and a nozzle, wherein the end of the cylindrical connecting rod A that rotates in a circular groove at one end of the fuselage and is driven by the motor A is hinged to the connecting rod B driven by the motor B, the end of the connecting rod B is hinged to the cylindrical connecting rod C driven by the motor C, and the end of the connecting rod C is rotatably matched with the connecting rod D driven by the motor D and perpendicular to it; the end of the connecting rod D is hinged to the connecting rod E driven by the motor E; the end of the connecting rod E is hinged to the connecting rod F driven by the motor F and is installed with a rubber pad that cooperates with the pipe wall; the end of the connecting rod F is installed with a nozzle, which is connected to the detergent storage space in the fuselage.

[0013] As a further improvement of the present technology, the nozzle is connected to the annular groove at the hinge of the connecting rod D and the connecting rod C through the liquid pipe A, and the annular groove is connected to the detergent storage space in the fuselage through the liquid pipe B.

[0014] As a further improvement of the present technology, the robotic arm B includes a motor G, a connecting rod G, a connecting rod H, a motor H, a ring A, a motor I, a ring B, a gear ring A, a gear A, a motor J, a connecting rod I, a connecting rod J, a motor K, a motor L, a sleeve A, a connecting rod K, a protective cover A, and a sensor A, wherein the end of the cylindrical connecting rod G that rotates in a circular groove at one end of the fuselage and is driven by the motor G is hinged to the connecting rod H driven by the motor H, and the end of the connecting rod H is hinged to the ring A driven by the motor I, and the ring A has a notch that makes it an open loop and has an arc less than 180 degrees, and the ring A cooperates with the connecting rod C; the end of the ring A rotates with the connecting rod driven by two motors The ring sleeve B is driven by J, and has a notch on the ring sleeve B that makes it an open ring with an arc less than 180 degrees; a notched ring gear A is installed on the ring sleeve B, and the ring gear A cooperates with the gears A on the output shafts of two motors J distributed 180 degrees circumferentially on the ring sleeve A; the end of the connecting rod I installed on the ring sleeve B and perpendicular to the ring sleeve A is hinged with a connecting rod J driven by the motor K; a sliding sleeve A driven by the motor L is nested and slid on the connecting rod J; a connecting rod K driven by the motor Z is hinged on the sliding sleeve A, and a sensor A is installed on the connecting rod K; a protective cover A for hiding the sensor A is installed on the side wall of the connecting rod J, and a rubber pad that cooperates with the pipe is installed at the end of the connecting rod J.

[0015] As a further improvement of the present technology, the robotic arm C includes a motor M, a connecting rod L, a connecting rod M, a motor N, a ring C, a motor O, a ring D, a gear ring B, a gear B, a motor P, a connecting rod N, a connecting rod O, a motor Q, a connecting rod P, a motor R, and a cleaning brush, wherein the end of the cylindrical connecting rod L rotating in a circular groove at one end of the fuselage and driven by the motor M is hinged with a connecting rod M driven by the motor N, and the end of the connecting rod M is hinged with a ring C driven by the motor O, and the ring C has a ring that makes it open and has an arc less than 180 degrees. The end of the ring sleeve C is rotatably matched with the ring sleeve D, which has a notch that makes it an open ring with an arc less than 180 degrees; the ring sleeve D is equipped with a notched ring gear B, which cooperates with the gear B on the output shaft of the two motors P distributed 180 degrees in the circumferential direction on the ring sleeve C; the end of the connecting rod N installed on the ring sleeve D and perpendicular to the ring sleeve C is hinged with a connecting rod O driven by the motor Q; the end of the connecting rod O is hinged with a connecting rod P driven by the motor R and is equipped with a rubber pad that cooperates with the pipe; the end of the connecting rod P is equipped with a cleaning brush.

[0016] As a further improvement of the present technology, the robotic arm D includes a motor S, a connecting rod Q, a connecting rod R, a motor T, a connecting rod S, a motor U, a connecting rod T, a motor V, a connecting rod U, a motor W, a motor X, a sleeve B, a connecting rod V, a protective cover B, and a sensor B, wherein the end of the cylindrical connecting rod Q rotating in a circular groove at one end of the fuselage and driven by the motor S is hinged to the connecting rod R driven by the motor T, the end of the connecting rod R is hinged to the cylindrical connecting rod S driven by the motor U, and the connecting rod S is matched with the ring sleeve C; the end of the connecting rod S is rotated and matched with the connecting rod T driven by the motor V and perpendicular to it; the end of the connecting rod T is hinged to the connecting rod U driven by the motor W; a sleeve B driven by the motor X is nested and slid on the connecting rod U; the sleeve B is hinged to the connecting rod V driven by the motor Z, and the connecting rod V is installed with the sensor B; a protective cover B for hiding the sensor B is installed on the side wall of the connecting rod U, and a rubber pad matching the pipe is installed at the end of the connecting rod V.

[0017] As a further improvement to this technology, pulleys A are mounted on the hinge pins of connecting rods E and F, and pulley A is mounted on the output shaft of motor F. The two pulleys A are connected by a synchronous belt A, ensuring a large distance between motor F and the pipeline, thereby preventing motor F from being damaged by water soaking on the pipeline. Pulls B are mounted on the hinge pins of connecting rods O and P, and pulley B is mounted on the output shaft of motor R. The two pulleys B are connected by a synchronous belt B, ensuring a large distance between motor R and the pipeline, thereby preventing motor R from being damaged by water soaking on the pipeline.

[0018] As a further improvement to this technology, the connecting rod J is mounted with a screw A that is threadedly engaged with the sleeve A. Screw A is drivingly connected to the output shaft of motor L, ensuring a large distance between motor L and the pipeline, thereby preventing motor L from being damaged by water soaking in the pipeline. The connecting rod U is mounted with a screw B that is threadedly engaged with the sleeve B. Screw B is drivingly connected to the output shaft of motor X, ensuring a large distance between motor X and the pipeline, thereby preventing motor X from being damaged by water soaking in the pipeline.

[0019] A trapezoidal guide block is installed on the slide A, and the trapezoidal guide block slides in the trapezoidal guide groove on the slide E. Two guide blocks are symmetrically installed on the slide B, and the two guide blocks slide respectively in the two guide grooves in the slide groove on the corresponding walking seat.

[0020] Compared with traditional pipeline robots, the present invention can adapt to normal walking in different pipe diameters through a walking mechanism that is retractable along the radial direction of the pipeline, thereby improving the applicability of the decontamination robot to pipelines.

[0021] When an obstacle is encountered in the pipeline, the present invention removes dirt from the pipeline wall, detects whether the dirt has been removed, scrubs the pipeline wall, and detects coatings or cracks on the pipeline wall around the pipeline axis through a robotic arm A for removing dirt, a robotic arm B for detecting whether the dirt has been removed, a robotic arm C for brushing the pipeline wall after removing dirt, and a robotic arm D for inspecting the pipeline wall after brushing. The robotic arm A for removing dirt and the robotic arm B for detecting whether the dirt has been removed do not interfere with each other during their movement around the axis, and the robotic arm C for brushing and the robotic arm D for detecting pipeline coatings or cracks do not interfere with each other during their movement around the axis.

[0022] When the robot encounters an obstacle in the pipeline, the robot arms A, B, C and D can replace the wheeled walking mechanism to walk over the obstacle, thereby improving the efficiency of the robot's detection and decontamination.

[0023] The present invention organically combines decontamination, detection, scrubbing and re-detection into one, thereby reducing the number of related functional structures and lowering equipment costs.

[0024] The invention has a simple structure and good use effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is an overall schematic diagram of the present invention.

[0026] Figure 2 It is a schematic cross-sectional view of the drive structure of the ring E nested on the fuselage.

[0027] Figure 3 It is a schematic diagram of the walking mechanism.

[0028] Figure 4 It is a partial schematic diagram of the walking mechanism from two perspectives.

[0029] Figure 5 It is a schematic diagram of the coordination between the fuselage and the robotic arms A, B, C and D, and their cross-sections.

[0030] Figure 6 It is a schematic diagram of robotic arm A from two perspectives.

[0031] Figure 7 It is a partial cross-sectional diagram of robotic arm A.

[0032] Figure 8 This is a schematic diagram of robotic arm B.

[0033] Figure 9 It is a schematic diagram of robotic arm C.

[0034] Figure 10 is a schematic diagram of robotic arm D.

[0035] Figure 11 It is a schematic diagram of the cooperation between robot arm A and robot arm B or the cooperation between robot arm C and robot arm D.

[0036] Figure 12 It is a partial schematic diagram of robot arm B or robot arm C.

[0037] Figure 13 It is a cross-sectional schematic diagram of the present invention and the pipeline from two perspectives.

[0038] Names of the symbols in the figure: 1. Body; 2. Robotic arm A; 3. Motor A; 4. Connecting rod A; 5. Connecting rod B; 6. Motor B; 7. Connecting rod C; 8. Motor C; 9. Connecting rod D; 10. Motor D; 11. Connecting rod E; 12. Motor E; 13. Connecting rod F; 14. Motor F; 15. Synchronous belt A; 16. Liquid pipe A; 17. Liquid pipe B; 18. Rubber pad; 19. Nozzle; 20. Robotic arm B; 21. Motor G; 22. Connecting rod G; 23. Connecting rod H; 24. Motor H; 25. Ring A; 26. Motor I; 27. Ring B; 28. Ring gear A; 29. ​​Gear A; 30. Motor J; 31. Connecting rod I; 32. Connecting rod J; 33. Motor K; 34. Motor L; 35. Screw A; 36. Sleeve A; 37. Connecting rod K; 38. Protective cover A; 39. Sensor A; 40. Robot arm C; 41. Motor M; 42. Connecting rod L; 43. Connecting rod M; 44. Motor N; 45. Ring C; 46. Motor O; 47. Ring D; 48. Ring gear B; 49. Gear B; 50. Motor P; 51 , connecting rod N; 52, connecting rod O; 53, motor Q; 54, connecting rod P; 55, motor R; 56, synchronous belt B; 57, cleaning brush; 58, robot arm D; 59, motor S; 60, connecting rod Q; 61, connecting rod R; 62, motor T; 63, connecting rod S; 64, motor U; 65, connecting rod T; 66, motor V; 67, connecting rod U; 68, motor W; 69, motor X; 70, screw B; 71, sliding sleeve B; 72, connecting rod V; 73, protective cover B; 74, sensor B; 75, walking mechanism ;76. Motor Y;77. Gear C;78. Ring gear C;79. Ring E;80. Trapezoidal guide groove;81. Slide A;82. Lifting motor;83. Screw C;84. Rack;85. Gear D;86. Scissor frame;87. Travel seat;88. Guide groove;89. Slide B;90. Guide block;91. Axle;92. Wheel;93. Pulley C;94. Synchronous belt C;95. Travel motor;96. Pipeline;97. Pulley A;98. Pulley B;99. Trapezoidal guide block;100. Motor Z. DETAILED DESCRIPTION

[0039] The accompanying drawings are schematic diagrams of the present invention to facilitate understanding of the structural operation principle. The specific product structure and proportional dimensions can be determined according to the use environment and conventional technology.

[0040] like Figure 1As shown, it includes a body 1, a robot arm A2, a nozzle 19, a robot arm B20, a sensor A39, a robot arm C40, a cleaning brush 57, a robot arm D58, a sensor B74, a walking mechanism 75, and a motor Y76, wherein Figure 1 、 13 As shown, the cylindrical body 1 is equipped with a wheeled walking mechanism 75 that can rotate around its axis and can be extended and retracted from both sides along the radial direction of the pipe 96 under the drive of the motor Y76; the moving front end of the body 1 is equipped with a mechanical arm A2 with a nozzle 19 at the end and a mechanical arm B20 with a wireless sensor A39 at the end. The nozzle 19 sprays a detergent at high pressure onto the wall of the pipe 96, and the sensor A39 detects the degree of decontamination of the pipe wall by the detergent; the moving rear end of the body 1 is equipped with a mechanical arm C40 with a cleaning brush 57 at the end and a mechanical arm D58 with a wireless sensor B74 at the end. The cleaning brush 57 performs a secondary cleaning on the dirt detected by the sensor A39 that has not been removed by the detergent, and the sensor B74 performs coating and crack detection on the cleaned pipe wall; Figure 1 、 11 As shown, the robot arm A2 and the robot arm B20 have a structure that allows the nozzle 19 and the sensor A39 to move circumferentially around the axis of the fuselage 1 at the same time, and the robot arm C40 and the robot arm D58 have a structure that allows the cleaning brush 57 and the sensor B74 to move circumferentially around the axis of the fuselage 1 at the same time.

[0041] like Figure 1 、 13 As shown, the robot arm A2, the robot arm B20, the robot arm C40 and the robot arm D58 can replace the walking mechanism 75 to walk over the obstacle when the robot encounters an obstacle.

[0042] like Figure 2 、 3 As shown, the walking mechanism 75 includes a ring E79, a slide A81, a lifting motor 82, a scissor frame 86, a walking seat 87, wheels 92, and a walking motor 95, wherein Figure 3 、 4 As shown, the ring sleeve E79 is nested and rotated on the fuselage 1 under the drive of the motor A3; on the two symmetrical planes on the outside of the ring sleeve E79, there are two slides A81 driven by the lifting motor 82 that slide synchronously toward or away from each other in the axial direction of the fuselage 1; each pair of slides A81 is hinged with a scissor frame 86 that is driven to rise and fall by it, and the end of the scissor frame 86 is equipped with a walking seat 87 that rises and falls with it, and the walking seat 87 is symmetrically equipped with two pairs of wheels 92 that are synchronously driven by the walking motor 95 and cooperate with the wall of the pipe 96.

[0043] like Figure 2 As shown, the ring gear C78 on the ring sleeve E79 is engaged with the gear C77 on the output shaft of the motor Y76 on the fuselage 1; Figure 4As shown, racks 84 are installed on the two slides A81 corresponding to the scissor frame 86, and the two racks 84 are meshed with the gear D85 on the ring sleeve E79. A screw C83 is threaded on one slide A81, and the screw C83 is connected to the output shaft of the corresponding lifting motor 82; one side of the upper end of the scissor frame 86 is hinged to the corresponding traveling seat 87, and the other side is hinged to the slide B89 sliding on the traveling seat 87; the two pairs of wheels 92 on the traveling seat 87 are installed thereon through axles 91, and the two axles 91 are installed with pulleys C93, and the two pulleys C93 are connected by a synchronous belt C94; a wheel axle 91 on the traveling seat 87 is connected to the output shaft of the corresponding traveling motor 95.

[0044] like Figure 5 、 6 As shown, the robot arm A2 includes a motor A3, a connecting rod A4, a connecting rod B5, a motor B6, a connecting rod C7, a motor C8, a connecting rod D9, a motor D10, a connecting rod E11, a motor E12, a connecting rod F13, a motor F14, a liquid pipe A16, a liquid pipe B17, a rubber pad 18, and a nozzle 19, wherein Figure 5 、 6 As shown, the end of the cylindrical connecting rod A4, which rotates in the circular groove at one end of the fuselage 1 and is driven by the motor A3, is hinged to the connecting rod B5 driven by the motor B6, the end of the connecting rod B5 is hinged to the cylindrical connecting rod C7 driven by the motor C8, and the end of the connecting rod C7 is rotatably matched with the connecting rod D9 driven by the motor D10 and perpendicular to it; the end of the connecting rod D9 is hinged to the connecting rod E11 driven by the motor E12; the end of the connecting rod E11 is hinged to the connecting rod F13 driven by the motor F14 and is installed with a rubber pad 18 that cooperates with the wall of the pipe 96; the end of the connecting rod F13 is installed with a nozzle 19, which is connected to the detergent storage space in the fuselage 1.

[0045] like Figure 7 As shown, the spray head 19 is connected to the annular groove at the hinge of the connecting rod D9 and the connecting rod C7 through the liquid pipe A16, and the annular groove is connected to the detergent storage space in the fuselage 1 through the liquid pipe B17.

[0046] like Figure 8 As shown, the robot arm B20 includes a motor G21, a connecting rod G22, a connecting rod H23, a motor H24, a ring A25, a motor I26, a ring B27, a ring gear A28, a gear A29, a motor J30, a connecting rod I31, a connecting rod J32, a motor K33, a motor L34, a sliding sleeve A36, a connecting rod K37, a protective cover A38, and a sensor A39. Figure 5 、 8 As shown in Figures 11, the end of the cylindrical connecting rod G22, which rotates in the circular groove at one end of the fuselage 1 and is driven by the motor G21, is hinged to the connecting rod H23 driven by the motor H24, and the end of the connecting rod H23 is hinged to the ring A25 driven by the motor I26; Figure 8 、 12 As shown, the ring sleeve A25 has a notch that makes it an open loop with an arc less than 180 degrees, and the ring sleeve A25 cooperates with the connecting rod C7; the end of the ring sleeve A25 is rotated and matched with the ring sleeve B27 driven by two motors J30, and the ring sleeve B27 has a notch that makes it an open loop with an arc less than 180 degrees; the ring sleeve B27 is installed with a notched ring gear A28, and the ring gear A28 cooperates with the gear A29 on the output shaft of the two motors J30 distributed 180 degrees in the circumferential direction on the ring sleeve A25; installed on The end of the connecting rod I31, which is perpendicular to the ring sleeve B27 and perpendicular to the ring sleeve A25, is hinged with a connecting rod J32 driven by a motor K33; a sliding sleeve A36 driven by a motor L34 is nested and slid on the connecting rod J32; a connecting rod K37 driven by a motor Z100 is hinged on the sliding sleeve A36, and a sensor A39 is installed on the connecting rod K37; a protective cover A38 for hiding the sensor A39 is installed on the side wall of the connecting rod J32, and a rubber pad 18 that cooperates with the pipe 96 is installed at the end of the connecting rod J32.

[0047] like Figure 5 、 9 As shown, the robot arm C40 includes a motor M41, a connecting rod L42, a connecting rod M43, a motor N44, a ring C45, a motor O46, a ring D47, a ring gear B48, a gear B49, a motor P50, a connecting rod N51, a connecting rod O52, a motor Q53, a connecting rod P54, a motor R55, and a cleaning brush 57. Figure 5 、 9 As shown, the end of the cylindrical connecting rod L42, which rotates in the circular groove at one end of the fuselage 1 and is driven by the motor M41, is hinged to the connecting rod M43 driven by the motor N44, and the end of the connecting rod M43 is hinged to the ring C45 driven by the motor O46; Figure 9 、 12 As shown, the ring sleeve C45 has a notch that makes it an open loop with an arc less than 180 degrees; the end of the ring sleeve C45 is rotatably matched with the ring sleeve D47, and the ring sleeve D47 has a notch that makes it an open loop with an arc less than 180 degrees; the ring sleeve D47 is equipped with a notched ring gear B48, and the ring gear B48 cooperates with the gear B49 on the output shafts of the two motors P50 distributed at 180 degrees in the circumferential direction on the ring sleeve C45; the end of the connecting rod N51 installed on the ring sleeve D47 and perpendicular to the ring sleeve C45 is hinged to the connecting rod O52 driven by the motor Q53; the end of the connecting rod O52 is hinged to the connecting rod P54 driven by the motor R55 and is equipped with a rubber pad 18 that cooperates with the pipe 96; the end of the connecting rod P54 is equipped with a cleaning brush 57.

[0048] like Figure 5 、 10As shown, the robot arm D58 includes a motor S59, a connecting rod Q60, a connecting rod R61, a motor T62, a connecting rod S63, a motor U64, a connecting rod T65, a motor V66, a connecting rod U67, a motor W68, a motor X69, a sliding sleeve B71, a connecting rod V72, a protective cover B73, and a sensor B74, wherein Figure 5 、 10 As shown in 11, the end of the cylindrical connecting rod Q60, which rotates in the circular groove at one end of the fuselage 1 and is driven by the motor S59, is hinged to the connecting rod R61 driven by the motor T62, and the end of the connecting rod R61 is hinged to the cylindrical connecting rod S63 driven by the motor U64, and the connecting rod S63 cooperates with the ring sleeve C45; the end of the connecting rod S63 is rotationally matched with the connecting rod T65 driven by the motor V66 and perpendicular to it; the end of the connecting rod T65 is hinged to the connecting rod U67 driven by the motor W68; the connecting rod U67 is nested and slid with the sliding sleeve B71 driven by the motor X69; the sliding sleeve B71 is hinged to the connecting rod V72 driven by the motor Z100, and the connecting rod V72 is installed with a sensor B74; a protective cover B73 for hiding the sensor B74 is installed on the side wall of the connecting rod U67, and a rubber pad 18 cooperating with the pipe 96 is installed at the end of the connecting rod V72.

[0049] like Figure 6 、 9 As shown, pulley A97 is mounted on the hinge pin of connecting rod E11 and connecting rod F13, and pulley A97 is mounted on the output shaft of motor F14. The two pulleys A97 are connected by a synchronous belt A15, ensuring a large distance between motor F14 and pipe 96, thereby preventing motor F14 from being damaged by water soaking on pipe 96. Pulley B98 is mounted on the hinge pin of connecting rod O52 and connecting rod P54, and pulley B98 is mounted on the output shaft of motor R55. The two pulleys B98 are connected by a synchronous belt B56, ensuring a large distance between motor R55 and pipe 96, thereby preventing motor R55 from being damaged by water soaking on pipe 96.

[0050] like Figure 6 、 10 As shown, the connecting rod J32 is mounted with a screw A35 that is threadedly engaged with the sleeve A36. Screw A35 is drivingly connected to the output shaft of the motor L34, ensuring a large distance between the motor L34 and the pipe 96, thereby preventing the motor L34 from being damaged by water soaking in the pipe 96. The connecting rod U67 is mounted with a screw B70 that is threadedly engaged with the sleeve B71. Screw B70 is drivingly connected to the output shaft of the motor X69, ensuring a large distance between the motor X69 and the pipe 96, thereby preventing the motor X69 from being damaged by water soaking in the pipe 96.

[0051] like Figure 4As shown, a trapezoidal guide block 99 is mounted on the slide A81, and the trapezoidal guide block 99 slides in the trapezoidal guide groove 80 on the sleeve E. Two guide blocks 90 are symmetrically mounted on the slide B89, and the two guide blocks 90 slide in the two guide grooves 88 in the corresponding slide grooves on the travel seat 87 respectively.

[0052] The working process of the present invention is as follows: In the initial state, the ring sleeve A25 on the robot arm B20 is not nested in the cylindrical connecting rod C7 on the robot arm A2, and the ring sleeve C45 on the robot arm C40 is not nested in the cylindrical connecting rod S63 on the robot arm D58. Both scissor frames 86 of the walking mechanism 75 are in the retracted state.

[0053] When the present invention is needed to inspect and decontaminate the pipeline 96, the present invention is first placed in the pipeline 96 so that the walking mechanism 75 is in a state of supporting the pipeline wall up and down. Then, the two lifting motors 82 in the walking mechanism 75 are started. The two lifting motors 82 respectively drive the corresponding two slides A81 to move toward each other through the corresponding screws C83. The two slides A81 drive the corresponding scissor frames 86 to extend radially along the pipeline 96. The scissor frames 86 drive the corresponding slides B89 to slide adaptively on the corresponding walking seats 87. The walking seats 87 drive the corresponding four wheels 92 radially along the pipeline 96 and finally resist against the pipeline wall, thereby completing the support of the fuselage 1 by the walking mechanism 75 in the pipeline 96 and making the fuselage 1 coaxial with the pipeline 96.

[0054] Then, the robot arms A2, B20, C40 and D58 are started simultaneously, so that the connecting rod C7 of the robot arm A2 and the ring A25 of the robot arm B20 are coaxial with the fuselage 1, and the ring C45 of the robot arm C40 and the connecting rod S63 of the robot arm D58 are coaxial with the fuselage 1, so that the connecting rod E11 and the connecting rod F13 in the robot arm A2 are parallel to the connecting rod D9 and are in an extended state.

[0055] When the connecting rod C7 of the robot arm A2 and the ring A25 of the robot arm B20 are coaxial with the fuselage 1, the connecting rod C7 on the robot arm A2 will be inserted from the side through the notch on the ring A25 on the robot arm B20 and finally complete the coaxial operation of the two.

[0056] When the ring sleeve C45 of the robot arm C40 and the connecting rod S63 of the robot arm D58 are coaxial with the fuselage 1, the connecting rod S63 on the robot arm D58 will be inserted from the side through the notch on the ring sleeve C45 on the robot arm C40 and finally complete the coaxial operation of the two.

[0057] Then, the two traveling motors 95 in the traveling mechanism 75 are started, and the two traveling motors 95 drive the corresponding four wheels 92 to travel along the axis of the pipeline 96 in the pipeline 96 through the corresponding two pulleys C93 and the synchronous belt C94.

[0058] During the movement of the present invention driven by the traveling mechanism 75, motor D10 in robot arm A2, motor J30 in robot arm B20, motor P50 in robot arm C40, and motor V66 in robot arm D58 simultaneously drive the spray head 19 at the end of robot arm A2 to move circumferentially around the axis of the machine body 1. This sprays high-pressure detergent circumferentially onto the wall of pipe 96 through the spray head 19, thereby performing a preliminary decontamination of the dirt on the wall of pipe 96. Motor J30 drives sensor A39 at the end of robot arm B20 to move circumferentially around the axis of the machine body 1 and perform a full-scale inspection of the area on the wall of pipe 96 that has been initially decontaminated by the detergent to determine whether the decontamination is complete. If the detergent's initial cleaning effect on the pipe 96 wall is very high and there is no unremoved dirt, then the two motors P50 on the robot arm C40 will not be activated and will not drive the cleaning brush 57 to perform a secondary cleaning of the pipe 96 wall. Instead, the motor V66 in the robot arm D58 will be activated to drive the sensor B74 at the end of the robot arm D58 to move axially around the axis of the body 1 and inspect the pipe 96 wall cleaned by the detergent to see if the coating has fallen off or if there are cracks in the pipe 96. If the detergent's initial cleaning effect on the pipe 96 wall is not good and there is still difficult-to-clean dirt, then the two motors P50 on the robot arm C40 will be activated to drive the cleaning brush 57 at the end of the robot arm C40 to move circumferentially around the axis of the body 1 and perform a secondary cleaning of the pipe 96 wall. This allows the difficult-to-clean dirt on the pipe wall to be effectively cleaned through the interaction between the cleaning brush 57 and the residual detergent. Then, the motor V66 in the robot arm D58 is started to drive the sensor B74 at the end of the robot arm D58 to move axially around the axis of the fuselage 1 and detect whether the coating on the wall of the pipe 96 cleaned for the second time by the cleaning brush 57 has fallen off and whether the pipe 96 has cracks.

[0059] When the present invention encounters an obstacle in pipe 96, robotic arm A2 separates from robotic arm B20, and robotic arm C40 separates from robotic arm D58. Simultaneously, motor F14 in robotic arm A2, motor Z and motor L34 in robotic arm B20, motor R55 in robotic arm C40, and motor Z100 and motor X69 in robotic arm D58 are activated. Motor F14 drives connecting rod F13 to retract around the hinge axis until it is parallel to connecting rod E11, allowing the rubber pad 18 at the end of connecting rod E11 to act as the end of robotic arm A2 and interact with the wall of pipe 96. Motor Z100 in robotic arm B20 drives connecting rod K37 to retract around the hinge axis until it is parallel to connecting rod J32, allowing the rubber pad 18 at the end of connecting rod J32 to act as the end of robotic arm B20 and interact with the wall of pipe 96. Motor L34 in robot arm B20, via screw A35, drives sleeve A36 toward protective cover A on connecting rod J32. Sleeve A36 drives sensor A39 at the end of connecting rod K37 into protective cover A, protecting sensor A39 from water damage. Motor R55 drives connecting rod P54 back around the hinge axis until it is parallel to connecting rod O52, allowing rubber pad 18 at the end of connecting rod O52 to interact with the wall of pipe 96, acting as the end of robot arm C40. Motor Z100 in robot arm D58 drives connecting rod V72 back around the hinge axis until it is parallel to connecting rod U67, allowing rubber pad 18 at the end of connecting rod U67 to interact with the wall of pipe 96, acting as the end of robot arm D58. Motor X69, via screw B70, drives sleeve B71 toward protective cover B on connecting rod U67. Sleeve B71 drives sensor B74 at the end of connecting rod V72 into protective cover B, protecting sensor B74 from water damage.

[0060] Robotic arms A2, B20, C40, and D58 are activated to support the chassis 1. Then, the two lift motors 82 on the travel mechanism 75 are activated. Through a series of transmission mechanisms, each of the four wheels 92 on the corresponding side is driven away from the wall of the pipe 96, allowing the mechanism to fully retract. After the travel mechanism 75 has completed its radial retraction along the pipe 96, motor Y76 is activated. This, via gears C77 and ring gear C78, ​​drives the ring E79 to rotate 90 degrees relative to the chassis 1. Ring E79 then rotates the two scissor frames 86 90 degrees, ensuring that the travel mechanism 75 is as far away from obstacles as possible in the radial direction of the pipe 96 and does not interfere with the subsequent obstacle-crossing process of the present invention.

[0061] Then, robotic arms A2, B20, C40, and D58 are activated to support the fuselage 1 over the obstacle on four legs. After the fuselage 1 has completely crossed the obstacle, motor Y76 is activated to rotate the walking mechanism 75 90 degrees, causing the two scissor frames 86 of the walking mechanism 75 to retract along the radial direction of the pipe 96 to support the fuselage 1. The two lifting motors 82 are activated to extend the two scissor frames 86 of the walking mechanism 75 and cause the wheels 92 on the two walking bases 87 to re-engage with the wall of the pipe 96, completing the transition of the walking mechanism 75 from one mode to the next.

[0062] In summary, the beneficial effects of the present invention are as follows: the present invention can adapt to normal walking in different pipe diameters through the walking mechanism 75 that is retractable along the radial direction of the pipe 96, thereby improving the applicability of the decontamination robot to the pipe 96.

[0063] When an obstacle is encountered in the pipe 96, the present invention removes dirt, detects whether the dirt has been removed, scrubs, and detects coating or cracks on the pipe wall around the axis of the pipe 96 by using a robotic arm A2 for removal, a robotic arm B20 for detecting whether the dirt has been removed, a robotic arm C40 for brushing the pipe wall after removal, and a robotic arm D58 for inspecting the pipe wall after brushing. The robotic arm A2 for removal and the robotic arm B20 for detecting whether the dirt has been removed do not interfere with each other during their movement around the axis, and the robotic arm C40 for brushing and the robotic arm D58 for detecting coating or cracks in the pipe 96 do not interfere with each other during their movement around the axis.

[0064] When the robot encounters an obstacle in the pipeline 96, the robot arm A2, the robot arm B20, the robot arm C40 and the robot arm D58 can replace the wheeled walking mechanism 75 to walk over the obstacle, thereby improving the efficiency of the robot's detection and decontamination.

[0065] The present invention organically combines decontamination, detection, scrubbing and re-detection into one, thereby reducing the number of related functional structures and lowering equipment costs.

Claims

1. A pipeline inspection and decontamination robot, characterized by: It includes a fuselage, a robotic arm A, a nozzle, a robotic arm B, a sensor A, a robotic arm C, a cleaning brush, a robotic arm D, a sensor B, a walking mechanism, and a motor Y, wherein a wheeled walking mechanism is installed on the cylindrical fuselage, which is driven by the motor Y and can rotate around its axis and can be extended and retracted from both sides along the radial direction of the pipeline; the moving front end of the fuselage is installed with a robotic arm A with a nozzle at the end and a robotic arm B with a wireless sensor A at the end, the nozzle sprays a detergent at high pressure onto the pipeline wall, and the sensor A detects the decontamination of the pipeline wall by the detergent; the moving rear end of the fuselage is installed with a robotic arm C with a cleaning brush at the end and a robotic arm D with a wireless sensor B at the end, the cleaning brush performs a secondary cleaning on the dirt detected by the sensor A that has not been removed by the detergent, and the sensor B performs coating and crack detection on the cleaned pipeline wall; the robotic arm A and the robotic arm B have a structure that enables the nozzle and the sensor A to move circumferentially around the axis of the fuselage at the same time, and the robotic arm C and the robotic arm D have a structure that enables the cleaning brush and the sensor B to move circumferentially around the axis of the fuselage at the same time; When the robot encounters an obstacle, the robotic arms A, B, C, and D can replace the walking mechanism to walk over the obstacle; The robotic arm A includes a motor A, a connecting rod A, a connecting rod B, a motor B, a connecting rod C, a motor C, a connecting rod D, a motor D, a connecting rod E, a motor E, a connecting rod F, a motor F, a liquid pipe A, a liquid pipe B, a rubber pad, and a spray head. The cylindrical connecting rod A, which rotates in a circular groove at one end of the machine body and is driven by the motor A, is hinged at its end to a connecting rod B driven by the motor B. The cylindrical connecting rod C, which is driven by the motor C, is hinged at its end to a connecting rod D driven by the motor D and perpendicular to the connecting rod C. The connecting rod D is hinged at its end to a connecting rod E driven by the motor E. The connecting rod E is hinged at its end to a connecting rod F driven by the motor F and is installed with a rubber pad that matches the pipe wall. The connecting rod F is installed at its end to a spray head, which is connected to the detergent storage space in the machine body. The spray head is connected to the annular groove at the hinged joint of the connecting rod D and the connecting rod C through the liquid pipe A, and the annular groove is connected to the detergent storage space in the fuselage through the liquid pipe B.

2. The pipeline inspection and decontamination robot according to claim 1, characterized in that: The walking mechanism includes a ring sleeve E, a slide A, a lifting motor, a scissors frame, a walking seat, wheels, and a walking motor, wherein the ring sleeve E is nested and rotated on the fuselage under the drive of the motor A; two slides A driven by the lifting motor slide synchronously toward or away from each other in the direction of the fuselage axis on the two symmetrical planes outside the ring sleeve E; each pair of slides A is hinged with a scissors frame driven to rise and fall by it, and a walking seat that rises and falls with it is installed at the end of the scissors frame, and two pairs of wheels that are synchronously driven by the walking motor and cooperate with the pipe wall are symmetrically installed on the walking seat.

3. The pipeline inspection and decontamination robot according to claim 2, characterized in that: The ring gear C on the ring sleeve E is meshed with the gear C on the output shaft of the motor Y on the fuselage; racks are installed on the two slides A corresponding to the scissor frame, and the two racks are meshed with the gear D on the ring sleeve E. A screw C is threaded on one slide A, and the screw C is connected to the output shaft of the corresponding lifting motor; one side of the upper end of the scissor frame is hinged to the corresponding traveling seat, and the other side is hinged to the slide B sliding on the traveling seat; the two pairs of wheels on the traveling seat are installed thereon through wheel axles, and pulleys C are installed on the two wheel axles, and the two pulleys C are connected by a synchronous belt C; one wheel axle on the traveling seat is connected to the output shaft of the corresponding traveling motor.

4. The pipeline inspection and decontamination robot according to claim 1, characterized in that: The robot arm B includes a motor G, a connecting rod G, a connecting rod H, a motor H, a ring A, a motor I, a ring B, a gear ring A, a gear A, a motor J, a connecting rod I, a connecting rod J, a motor K, a motor L, a sliding sleeve A, a connecting rod K, a protective cover A, and a sensor A. The end of the cylindrical connecting rod G, which rotates in a circular groove at one end of the fuselage and is driven by the motor G, is hinged to the connecting rod H driven by the motor H. The end of the connecting rod H is hinged to the ring A driven by the motor I. The ring A has a notch that makes it an open loop with an arc less than 180 degrees. The ring A cooperates with the connecting rod C; the end of the ring A rotates with the ring driven by two motors J. B, the ring sleeve B has a notch that makes it an open ring with an arc less than 180 degrees; a notched ring gear A is installed on the ring sleeve B, and the ring gear A cooperates with the gear A on the output shaft of two motors J distributed 180 degrees in the circumferential direction on the ring sleeve A; the end of the connecting rod I installed on the ring sleeve B and perpendicular to the ring sleeve A is hinged with a connecting rod J driven by the motor K; a sliding sleeve A driven by the motor L is nested and slid on the connecting rod J; a connecting rod K driven by the motor Z is hinged on the sliding sleeve A, and a sensor A is installed on the connecting rod K; a protective cover A for hiding the sensor A is installed on the side wall of the connecting rod J, and a rubber pad that cooperates with the pipe is installed at the end of the connecting rod J.

5. The pipeline inspection and decontamination robot according to claim 1, characterized in that: The robot arm C includes a motor M, a connecting rod L, a connecting rod M, a motor N, a ring C, a motor O, a ring D, a gear ring B, a gear B, a motor P, a connecting rod N, a connecting rod O, a motor Q, a connecting rod P, a motor R, and a cleaning brush. The end of the cylindrical connecting rod L, which rotates in a circular groove at one end of the body and is driven by the motor M, is hinged to the connecting rod M driven by the motor N. The end of the connecting rod M is hinged to the ring C driven by the motor O. The ring C has a notch that makes it an open loop with an arc less than 180 degrees. The ring C The end is rotated with a ring sleeve D, which has a notch on it to make it an open ring with an arc less than 180 degrees; a notched ring gear B is installed on the ring sleeve D, and the ring gear B cooperates with the gears B on the output shafts of two motors P distributed 180 degrees in the circumferential direction on the ring sleeve C; the end of the connecting rod N installed on the ring sleeve D and perpendicular to the ring sleeve C is hinged with a connecting rod O driven by the motor Q; the end of the connecting rod O is hinged with a connecting rod P driven by the motor R and is installed with a rubber pad that cooperates with the pipe; a cleaning brush is installed at the end of the connecting rod P.

6. The pipeline inspection and decontamination robot according to claim 5, characterized in that: The robotic arm D includes a motor S, a connecting rod Q, a connecting rod R, a motor T, a connecting rod S, a motor U, a connecting rod T, a motor V, a connecting rod U, a motor W, a motor X, a sleeve B, a connecting rod V, a protective cover B, and a sensor B. The end of the cylindrical connecting rod Q, which rotates in a circular groove at one end of the fuselage and is driven by the motor S, is hinged to the connecting rod R driven by the motor T, the end of the connecting rod R is hinged to the cylindrical connecting rod S driven by the motor U, and the connecting rod S cooperates with the ring sleeve C; the end of the connecting rod S is rotationally cooperated with the connecting rod T driven by the motor V and perpendicular to it; the end of the connecting rod T is hinged to the connecting rod U driven by the motor W; a sleeve B driven by the motor X is nested and slid on the connecting rod U; the sleeve B is hinged to the connecting rod V driven by the motor Z, and the connecting rod V is installed with the sensor B; a protective cover B for hiding the sensor B is installed on the side wall of the connecting rod U, and a rubber pad that cooperates with the pipe is installed at the end of the connecting rod V.

7. The pipeline inspection and decontamination robot according to claim 5, characterized in that: A pulley A is installed on the hinge pin of the connecting rod E and the connecting rod F, and a pulley A is installed on the output shaft of the motor F. The two pulleys A are connected by a synchronous belt A; a pulley B is installed on the hinge pin of the connecting rod O and the connecting rod P, and a pulley B is installed on the output shaft of the motor R. The two pulleys B are connected by a synchronous belt B.

8. The pipeline inspection and decontamination robot according to claim 4 or 6, characterized in that: The connecting rod J is equipped with a screw A which is threadedly matched with the sleeve A, and the screw A is connected to the output shaft of the motor L; the connecting rod U is equipped with a screw B which is threadedly matched with the sleeve B, and the screw B is connected to the output shaft of the motor X.

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