An amphibious pipeline inspection robot

Abstract

The application discloses an amphibious pipeline detection robot, which comprises a detection module, a driving module, an expanding and shrinking module, expanding legs and a flexible shell, the detection module is arranged at the front end of the flexible shell, the expanding legs are arranged at the two outer sides of the flexible shell, the driving module is arranged on the flexible shell and is in transmission connection between the driving module and the expanding legs, and the expanding and shrinking module is arranged in the flexible shell and is used for adjusting the volume of the device; the expanding legs are capable of being expanded horizontally or being shrunk into a cylindrical shape, so that the expanding legs present two states to adapt to two advancing modes of the detection robot in the case that there is fluid in the pipeline and in the case that there is no fluid in the pipeline.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of pipeline detection robots, in particular to a water-land dual-purpose pipeline detection robot. BACKGROUND

[0002] With the development of national industry, pipeline transportation is applied more and more widely, and pipeline transportation has the advantages of large transportation capacity, strong continuity, small occupation, low cost and the like. In order to ensure the normal use of the pipeline, it is necessary to confirm that there is no damage in the pipeline, and the pipeline detection device can replace manual detection in the pipeline.

[0003] At present, the strain capacity of the pipeline detection robot in the detection process for different pipe diameter connection places and the direction changing capacity are difficult to meet at the same time, and when there is fluid in the pipeline, the pipeline detection robot is difficult to work normally, which leads to the failure to complete the detection task smoothly. SUMMARY

[0004] In view of the problems of difficulty in pipeline turning and turning in application scene in the prior art, the present application designs a water-land dual-purpose pipeline detection robot, which can be used for detection work of large diameter pipelines and realizes detection work in two cases of with fluid and without fluid in the pipeline.

[0005] The technical scheme adopted by the present application is as follows:

[0006] A water-land dual-purpose pipeline detection robot, comprising a detection module, a driving module, an expanding and shrinking module, an expanding leg and a flexible shell, the detection module is arranged at the front end position of the flexible shell, the expanding leg is arranged at the two outer side positions of the flexible shell, the driving module is arranged on the flexible shell, and the driving module is transmissionally connected with the expanding leg, the expanding and shrinking module is arranged inside the flexible shell and is used for adjusting the volume of the device.

[0007] Further, the expanding and shrinking module is provided with two, and the two expanding and shrinking modules are respectively provided with flexible shells, and the two expanding and shrinking modules are connected through front and rear connecting modules.

[0008] Further, the detection module comprises a base, a rotating motor, a turning support one, a turning support two and a camera; the rotating motor is fixed on the base, the front end of the rotating motor is movably connected with a connecting piece, the tail end of the camera is movably connected with the front end of the connecting piece, the middle part of the camera shell is movably connected with the turning support two, the turning support two is movably connected with the turning support one, and the turning support one is fixed on the rotating motor.

[0009] Further, the driving module comprises a driving motor, fixed support frames, a thrust bearing, a connecting rod I, a connecting rod II, a connecting rod III and a connecting rod; the outer ring of the thrust bearing is fixedly connected with a small hole on the connecting rod III, the output shaft of the driving motor is connected with the thrust bearing by penetrating a small hole on the fixed support frame, the fixed support frame is movably connected with the connecting rod I through a pin, the connecting rod I, the connecting rod II and the connecting rod III are sequentially movably connected through pins, and the connecting rod is sequentially connected with the three connecting rods I.

[0010] Further, the expanding and reducing module comprises a screw rod, a connecting sleeve, a rotating motor and two symmetrically arranged sub-modules, the sub-module comprises a sliding sleeve, a fixed sleeve, a movable rod I, a movable rod II and a movable rod III; the connecting sleeve is fixedly connected between the two support frames of the driving module, the rotating motor is in transmission connection with one end of the screw rod, the middle part of the screw rod is arranged in the connecting sleeve, the other end is arranged on the fixed sleeve, the sliding sleeve is arranged on the screw rod in a matched mode, the sliding sleeve can move forward and backward on the screw rod, one end of the movable rod II is movably connected with the sliding sleeve, the other end of the movable rod II is movably connected with the middle part of the movable rod I, one end of the movable rod I is movably connected with the fixed sleeve, the other end of the movable rod I is movably connected with one end of the movable rod III, and the other end of the movable rod III is movably connected with the flexible shell.

[0011] Further, the expanding leg comprises a center support, a connecting rod IV, a connecting rod V, a connecting rod VI, a connecting rod VII, a connecting rod VIII, a connecting rod IX, a sliding sleeve I, a sliding sleeve II, an upper part of the expanding leg, five batten plates and a driver; the center support is welded on the batten plate at the center position, the sliding sleeve I and the sliding sleeve II are sequentially arranged on the center support from top to bottom and can slide up and down, the connecting rod IV and the connecting rod V are respectively hinged to the two sides of the sliding sleeve I; one end of the connecting rod VI and one end of the connecting rod IX are respectively hinged to the connecting rod V and the connecting rod IV, and the other end of the connecting rod VI and the other end of the connecting rod IX are respectively hinged to the first batten plate and the fifth batten plate; one end of the connecting rod VII and one end of the connecting rod VIII are respectively hinged to the two sides of the sliding sleeve II, and the other end of the connecting rod VII and the other end of the connecting rod VIII are hinged to the second batten plate and the fourth batten plate; the upper end of the batten plate at the center position is fixedly connected with a horn mouth of the upper part of the expanding leg, and the upper part of the expanding leg is connected with the connecting rod II through a ball hinge.

[0012] Further, the front and rear connecting module comprises a front connecting module, a rear connecting module and a universal joint; the front connecting module and the rear connecting module each comprise a rotating disc, a hydraulic push rod I and a hydraulic push rod II; the hydraulic push rod I is arranged around the rotating disc and is symmetrically distributed along the center of the rotating disc, one end of the hydraulic push rod II is hinged to the corresponding hydraulic push rod I, and the other end of the hydraulic push rod II is connected with the corresponding universal joint.

[0013] Further, the flexible shell comprises support parts at two ends and an intermediate telescopic part, and the telescopic part can change the volume under the action of the expanding and reducing module.

[0014] The beneficial effects of the present application are as follows:

[0015] (1) The expansion leg provided by the present application can be expanded laterally or contracted in a cylindrical shape, so that the expansion leg presents two states to adapt to two traveling modes of the detection robot in the presence and absence of fluid in the pipeline.

[0016] (2) The flexible shell and the expansion and contraction module provided by the present application are connected, when there is no fluid in the pipeline, the expansion and contraction module is contracted, and the flexible shell is correspondingly contracted, when there is fluid in the pipeline, the expansion and contraction module expands radially outward, and the volume of the flexible shell expands accordingly, so as to obtain sufficient buoyancy, and ensure that the detection robot floats in the fluid and travels smoothly.

[0017] (3) The present application connects the front and rear halves of the detection robot by providing the front and rear connecting module, when the robot needs to turn, the distance between the front and rear halves of the detection robot can be changed by adjusting the hydraulic push rod, so that the turning is easier. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a three-dimensional overall schematic view of the present application;

[0019] Figure 2 is a schematic view of the internal structure of the present application;

[0020] Figure 3 is a schematic view of the detection module of the present application;

[0021] Figure 4 is a schematic view of the driving module of the present application;

[0022] Figure 5 is a schematic view of the expansion and contraction module of the present application;

[0023] Figure 6 is a schematic view of the contraction state of the expansion leg of the present application;

[0024] Figure 7 is a schematic view of the expansion state of the expansion leg of the present application;

[0025] Figure 8 is a schematic view of the front and rear connecting module of the present application;

[0026] Figure 9 is a schematic view of the contraction state of the flexible shell of the present application;

[0027] Figure 10 is a schematic view of the expansion state of the flexible shell of the present application. DETAILED DESCRIPTION

[0028] The present application will be further described below in conjunction with the accompanying drawings.

[0029] As Figures 1-2As shown, the amphibious pipeline detection robot of the present application comprises a detection module 100, four drive modules 200, two expansion and contraction modules 300, twelve expansion legs 400, two flexible casings 500, and a front-rear connecting module 600; the detection module 100 serves as the head of the detection robot; the drive modules 200 are connected with the expansion legs 400 and are installed on both sides of the two flexible casings 500; the robot is divided into two sections, the tail end of the front section and the head of the rear section are connected by the front-rear connecting module 600.

[0030] The detection module 100 is used for multi-angle real-time acquisition of the working condition of the inner wall of the pipeline, and the drive module 200 is used for providing power; in the drive module 200, eight drive motors 201 are connected with respective corresponding connecting rods III 206 through hole shafts; taking the upper left drive module of the robot as an example, each fixed support frame 202, connecting rod I 204, connecting rod II 205, and connecting rod III 206 together form three hinge four-bar mechanisms; two drive motors 201 rotate to drive the front and rear four-bar mechanisms to move; connecting rod 207 connects the connecting rod I 204 of each four-bar mechanism to drive the movement of the middle four-bar mechanism and realize the synchronous movement of the three four-bar mechanisms; the expansion and contraction module 300 is connected with the flexible casing 500 and is used for increasing or decreasing the volume of the detection robot; the expansion leg 400 can expand or contract according to whether there is fluid in the pipeline to provide a suitable marching mode for the robot; and the front-rear connecting module 600 is used for connecting the front and rear sections of the robot and assisting in turning.

[0031] As shown in the figure, Figure 3 The detection module 100 comprises a base 101, a rotating motor 102, a steering support I 103, a steering support II 104, and a camera 105; the rotating motor 102 and the steering support I 103 are installed on the base 101 and the steering support I 103 can rotate against the base 101; the output shaft of the rotating motor 102 is connected with the steering support I 103 through a bearing; the steering support I 103 is fixedly connected with a connecting piece; the tail end of the camera 105 is vertically movably connected with the front end hole of the connecting piece; the middle end of the camera 105 shell is movably connected with a small hole on the steering support II 104; the steering support II 104 has a ring-shaped protrusion; the steering support I is movably connected with the small hole on the steering support II 104 through the ring-shaped protrusion. The rotating motor 102 rotates to drive the steering support I 103 and the connecting piece to rotate, and then the camera 105 swings up and down around the small hole on the steering support II 104, and the steering support II 104 swings left and right around the small hole on the steering support I 103. In this way, the camera achieves multi-angle range all-around real-time detection of the situation in the pipeline.

[0032] As shown in the figure, Figure 4As shown, the driving module 200 includes a driving motor 201, a fixed support frame 202, a thrust bearing 203, a connecting rod I 204, a connecting rod II 205, a connecting rod III 206, a connecting rod 207, the outer ring of the thrust bearing is fixedly connected with a small hole on the connecting rod III 206, the output shaft of the driving motor 201 is connected with the inner ring of the thrust bearing 203 through a small hole on the fixed support frame, the fixed support frame 202 is vertically movably connected with the connecting rod I 204 through a small hole, the connecting rod I 204, the connecting rod II 205 and the connecting rod III 206 are sequentially connected through small holes, the connecting rod 207 is sequentially connected with the three connecting rods I 204, and the driving motor 201 rotates to drive the detection device to move through the connecting rods.

[0033] As shown in the figure, Figure 5 The expanding and shrinking module 300 includes a screw rod 304, a connecting sleeve 302, a rotating motor 603 and two symmetrical sub-modules, the sub-module includes a sliding sleeve 301, a fixed sleeve 303, a movable rod I 305, a movable rod II 306 and a movable rod III 307; the connecting sleeve 302 is fixedly connected with the fixed support frame 202, the screw rod 304 is connected with the rotating motor 603, the screw rod 304 is sleeved in the connecting sleeve 302, the fixed sleeve 303 and the sliding sleeve 301 are sleeved on the screw rod 304, and the sliding sleeve 301 can move forward and backward on the screw rod 304,

[0034] The movable rod II 306 is movably connected with the sliding sleeve 301 at one end through a pin shaft, the movable rod II 306 is movably connected with the movable rod I 305 at the middle part through a pin shaft, the movable rod I 305 is movably connected with the fixed sleeve 302 at one end through a pin shaft, the movable rod I 305 is movably connected with the movable rod III 307 at the other end through a pin shaft, the movable rod III 307 is movably connected with the flexible shell 500 at the other end through a pin shaft, the rotating motor 603 rotates to drive the screw rod 304 to rotate, and under the action of friction, the sliding sleeve 301 can slide left and right on the screw rod 304.

[0035] When there is fluid in the pipeline, the sliding sleeve slides to both sides (the screw rod 304 is provided with positive and negative teeth), the three movable rods I 305 are expanded, the flexible shell 500 is expanded, and the volume of the flexible shell 500 is increased to increase the buoyancy, as shown in the figure. Figure 10

[0036] When there is no fluid in the pipeline, the sliding sleeve slides to the middle, the three movable rods I 305 are contracted, the flexible shell 500 is contracted inward, and the volume of the flexible shell 500 is reduced to save space, as shown in the figure. Figure 9

[0037] The flexible shell 500 includes support portions at both ends and an expansion portion in the middle, the support portions are made of hard material and do not expand and contract, and the expansion portion is made of soft material and can change in volume under the action of the expanding and shrinking module 300. ​​

[0038] As shown in Fig. 4, the expansion leg is in the contracted state, at this time, the sliding sleeve 407 and the sliding sleeve 408 slide upward, the paddle boards are contracted into a cylindrical shape, and the expansion leg is used for walking in the pipeline. Figure 6

[0039] As shown in Fig. 5, the expansion leg is in the expanded state, at this time, the sliding sleeve 407 and the sliding sleeve 408 slide downward, the paddle boards are expanded outward to form a flat state, and the expansion leg is used for sliding forward in water. Figure 7

[0040] The expansion leg 400 comprises a center support 401, a connecting rod IV 402, a connecting rod V 403, a connecting rod VI 404, a connecting rod VII 405, a connecting rod VIII 406, a connecting rod IX 411, a sliding sleeve I 407, a sliding sleeve II 408, an upper part 409 of the expansion leg, five paddle boards 410, and a driver 412. The center support 401 is welded on the center paddle board 408. The sliding sleeve I 407 and the sliding sleeve II 408 are installed on the center support 401 in the order from top to bottom and can slide up and down. The connecting rod IV 402 and the connecting rod V 403 are respectively hinged to the left end and the right end of the sliding sleeve I 407. The connecting rod VI 404 and the connecting rod IX 411 are longer than the connecting rod IV 402 and the connecting rod V 403, one end of each of which is respectively hinged to the connecting rod V 403 and the connecting rod IV 402, and the other end of each of which is respectively hinged to the first paddle board and the fifth paddle board. One end of each of the connecting rod VII 405 and the connecting rod VIII 406 is respectively hinged to the left end and the right end of the sliding sleeve II 408, and the other end of each of which is hinged to the second paddle board and the fourth paddle board. The upper end of the center paddle board is fixedly connected to the bell mouth of the upper part 409 of the expansion leg. The upper part 409 of the expansion leg is connected to the connecting rod II 205 through a ball hinge. The driver 412 is used to drive the sliding sleeve I 407 and the sliding sleeve II 408 on the center support 401 to slide.

[0041] As shown in Fig. 6, the expansion leg is in the contracted state, at this time, the sliding sleeve 407 and the sliding sleeve 408 slide upward, the paddle boards are contracted into a cylindrical shape, and the expansion leg is used for walking in the pipeline. Figure 8 ​​As shown, the front and rear connecting module 600 includes universal joint 601, rotating disc 602, rotating motor 603, push hydraulic rod I 604, push hydraulic rod II 605 hydraulic, the rotating motor 603 is installed in the rotating disc 602 center, four push hydraulic rod I 604 is installed in the rotating disc 602 four around, along the rotating disc 602 center symmetry distribution, each hydraulic push rod II 605 one end and its corresponding hydraulic push rod I 604 hinged, the other end and its corresponding universal joint 601 is connected, the front and rear connecting module 600 connects the pipeline detection robot front half and rear half, when the detection robot encounters a bend, adjustable hydraulic push rod I 604 and hydraulic push rod II 605 auxiliary robot turns. When the detection robot encounters a bend, the hydraulic push rod II 605 can adjust the distance between the universal joint 601, the hydraulic push rod I 604 can adjust the distance between the rotating disc 602, so that the detection robot can adjust the distance between the front and rear two sections when turning, so that it is more flexible in the water turning, the rotating motor rotates to drive the rotating disc to rotate, so that the relative position of the two rotating discs changes, when the detection robot encounters bumps and other unexpected situations in the water, adjust the relative position of the two sections of the robot, so that it keeps balance.

[0042] The present application can be used for the detection work of large diameter pipeline, realize the detection work of two kinds of situations of fluid and no fluid in the pipeline and realize flexible turning.

[0043] The above only describes the preferred embodiments of the present application and is not used to limit the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. An amphibious pipeline inspection robot, characterized by: The device comprises a detection module (100), a driving module (200), a size adjusting module (300), an expansion leg (400) and a flexible shell (500), the detection module (100) is arranged at the front end of the flexible shell (500), the expansion leg (400) is arranged at the two outer sides of the flexible shell (500), the driving module (200) is arranged on the flexible shell (500) and is in transmission connection between the driving module (200) and the expansion leg (400), and the size adjusting module (300) is arranged inside the flexible shell (500) and is used for adjusting the size of the device. The driving module (200) comprises a driving motor (201), a fixed support frame (202), a thrust bearing (203), a connecting rod I (204), a connecting rod II (205), a connecting rod III (206) and a connecting rod (207), the outer ring of the thrust bearing (203) is fixedly connected with a small hole on the connecting rod III (206), the output shaft of the driving motor (201) is connected with the thrust bearing (203) through a small hole on the fixed support frame (202), the fixed support frame (202) is movably connected with the connecting rod I (204) through a pin shaft, the connecting rod I (204), the connecting rod II (205) and the connecting rod III (206) are sequentially movably connected through pin shafts, and the connecting rod (207) is sequentially connected with the three connecting rod I (204). The size adjusting module (300) comprises a screw rod (304), a connecting sleeve (302), a rotating motor (603) and two symmetrically arranged sub-modules, the sub-module comprises a sliding sleeve (301), a fixed sleeve (303), a movable rod I (305), a movable rod II (306) and a movable rod III (307), the connecting sleeve (302) is fixedly connected between the two support frames (202) of the driving module (200), the rotating motor (603) is in transmission connection with one end of the screw rod (304), the screw rod (304) is arranged in the connecting sleeve (302), the other end of the screw rod (304) is arranged on the fixed sleeve (303), the sliding sleeve (301) is arranged on the screw rod (304) in a matched mode, the sliding sleeve (301) can move forward and backward on the screw rod (304), one end of the movable rod II (306) is movably connected with the sliding sleeve (301), the other end of the movable rod II (306) is movably connected with the middle part of the movable rod I (305), one end of the movable rod I (305) is movably connected with the fixed sleeve (302), the other end of the movable rod I (305) is movably connected with one end of the movable rod III (307), and the other end of the movable rod III (307) is movably connected with the flexible shell (500). The expansion leg (400) comprises a center support (401), a connecting rod IV (402), a connecting rod V (403), a connecting rod VI (404), a connecting rod VII (405), a connecting rod VIII (406), a connecting rod IX (411), a sliding sleeve I (407), a sliding sleeve II (408), an upper expansion leg (409), five pulp plates (410) and a driver (412); the center support (401) is welded on the pulp plate (410) at the center position, the sliding sleeve I (407) and the sliding sleeve II (408) are installed on the center support (401) in the order from top to bottom and can slide up and down, the connecting rod IV (402) and the connecting rod V (403) are respectively hinged to the two sides of the sliding sleeve I (407); one end of the connecting rod VI (404) and the connecting rod IX (411) is respectively hinged to the connecting rod V (403) and the connecting rod IV (402), and the other end is respectively hinged to the first pulp plate (410) and the fifth pulp plate (410); one end of the connecting rod VII (405) and the connecting rod VIII (406) is respectively hinged to the two sides of the sliding sleeve II (408), and the other end is hinged to the second pulp plate (410) and the fourth pulp plate (410); the upper end of the pulp plate (410) at the center position is fixedly connected with the trumpet mouth of the upper expansion leg (409), and the upper expansion leg (409) is connected with the connecting rod II (205) through a spherical hinge joint.

2. An amphibious pipeline inspection robot according to claim 1, characterized in that: The two expansion and contraction modules (300) are respectively provided with flexible outer shells (500), and the two expansion and contraction modules (300) are connected through front and rear connecting modules (600).

3. The amphibious pipeline inspection robot of claim 1, wherein: The detection module (100) comprises a base (101), a rotating motor (102), a turning support I (103), a turning support II (104) and a camera (105); the rotating motor (102) is fixed on the base (101), the front end of the rotating motor (102) is movably connected with a connecting piece, the tail end of the camera (105) is movably connected with the front end of the connecting piece, the middle part of the camera (105) is movably connected with the turning support II (104), the turning support II (104) is movably connected with the turning support I (103), and the turning support I (103) is fixed on the rotating motor (102).

4. An amphibious pipeline inspection robot according to claim 2, characterized in that: The front and rear connecting modules (600) comprise front connecting modules, rear connecting modules and universal joints (601), the front connecting modules and the rear connecting modules each comprise a rotating disc (602), a hydraulic pushing rod I (604) and a hydraulic pushing rod II (605); the hydraulic pushing rod I (604) is installed around the rotating disc (602) and is distributed symmetrically along the center of the rotating disc (602), one end of the hydraulic pushing rod II (605) is hinged with the corresponding hydraulic pushing rod I (604), and the other end is connected with the corresponding universal joint (601).

5. The amphibious pipeline inspection robot of claim 1, wherein: The flexible outer shell (500) comprises support portions at both ends and an expansion portion in the middle, and the expansion portion can change in volume under the action of the expansion and contraction module (300).

Images