Pre-fabricated small pipe inner wall detection robot

Abstract

The application provides a prefabricated small pipeline inner wall detection robot, comprising an outer pipeline module and an inner pipeline module, the outer pipeline module is sleeved on the outer periphery of the small pipeline, the inner pipeline module is arranged in the small pipeline, and the outer pipeline module can drive the inner pipeline module to follow. The prefabricated small pipeline inner wall detection robot has the advantages that the inner and outer pipeline modules are designed in a split structure, so that the robot can adapt to pipelines with smaller inner diameters; meanwhile, the robot is provided with a rotation triggering device, so that the robot can smoothly pass through the pipeline turning part, and the detection or operation on the inner wall of the small pipeline is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mobile robots, in particular to a prefabricated small pipeline inner wall detection robot. BACKGROUND

[0002] Pipeline is a widely used material conveying method in the fields of industry, agriculture, energy, military equipment, urban construction, etc. A large number of pipelines are used in city sewage, natural gas, industrial material conveying and building ventilation system, etc. It is crucial to ensure the safety and effectiveness of these pipeline systems. In the pipeline production and manufacturing process, inner wall detection of prefabricated pipeline can reduce failure rate and safety risk in the use process, improve the operation efficiency and reliability of the pipeline system, and is an important detection link to ensure the safety of the pipeline. Due to the slender structure and the existence of turning of the prefabricated pipeline, manual detection is difficult and low in efficiency. Using a pipeline inner wall detection robot is an effective means to perform such tasks.

[0003] The existing pipeline inner wall detection robot basically adopts an integral structure placed in the pipeline, so that it is mainly suitable for large-diameter pipelines and cannot perform detection tasks on small pipeline inner walls. In addition, the existing robot is prone to being stuck when passing through the turning place of the small pipeline, which causes the robot to be in a dilemma, thereby increasing the risk of pipeline inner wall damage. In order to realize automatic detection of small-diameter prefabricated pipelines, a small pipeline inner wall detection robot needs to be developed.

[0004] In view of this, it is urgent to overcome the defects of the prior art. SUMMARY

[0005] In order to overcome the technical problems existing in the prior art, the present application provides a prefabricated small pipeline inner wall detection robot, which comprises an outer pipeline module and an inner pipeline module. The outer pipeline module is sleeved on the outer periphery of the small pipeline, and the inner pipeline module is placed in the small pipeline. The outer pipeline module can drive the inner pipeline module to follow.

[0006] Further, the outer pipeline module comprises a machine body, the machine body comprises a first machine body and a second machine body, and the first machine body and the second machine body are detachably fixedly connected into one body. A rotation direction triggering device / rotation direction sensor is arranged at both ends of the machine body, which is used to obtain the rotation direction information when the robot encounters a turning.

[0007] Still further, the machine body is provided with a power device for providing power, and a traveling device for driving the outer pipeline module to rotate / move on the pipeline under the power provided by the power device until the robot completes the turning.

[0008] Further, the inner pipeline module comprises: a pair of symmetrical air bag bodies, an elastic body arranged between the pair of air bag bodies; and a plurality of magnets and a plurality of balls arranged on the air bag bodies.

[0009] The air bag body is used to provide support force for the balls and is deformed to adapt to pipelines with different inner diameters. The air pressure level in the air bag is set through air charging and discharging ports on the air bag body, so as to expand the range of the inner diameter of the pipeline that the inner pipeline module can adapt to.

[0010] Further, the body is further provided with an electromagnet device, a rotation direction information processing device for receiving and processing the rotation direction information of the rotation direction triggering device / rotation direction sensor, and a control system including a controller for controlling the movement of the robot and the opening and closing of the electromagnet device.

[0011] Under the action of the magnetic force, the inner pipeline module is dragged and followed by the outer pipeline module.

[0012] Preferably, the control system further comprises: a storage battery, a wireless remote controller, an electric wire, etc. Except for the wireless remote controller, all the control system is installed on the outer pipeline module. The wireless remote controller is used to remotely control the movement of the robot and the opening and closing of the electromagnet.

[0013] Preferably, the rotation direction triggering device comprises left and right rotation triggering devices; the rotation direction triggering device comprises a triggering piece, a guide rack, a first gear meshing with the guide rack, a second gear meshing with the first gear, and a rotation direction input soft shaft connected with the second gear; the triggering piece is fixedly connected with the guide rack, and a reset spring is arranged below the triggering piece; when the rotation direction triggering device is not triggered, the robot moves linearly along the axial direction of the pipeline; when the robot travels to the turning position of the pipeline, the triggering piece is pressed down by the outer wall of the pipeline, so that the guide rack moves and the first gear rotates, thereby transmitting the rotation direction information to the rotation direction information processing device through the rotation direction input soft shaft.

[0014] Preferably, the rotation direction information processing device comprises left and right rotation input gear sets, a rotation direction output gear set, planetary gears, a planetary gear carrier, left and right rotation input soft shafts, and a rotation direction output soft shaft; the planetary gears are bevel gears, which are installed on the planetary gear carrier and the planetary gear carrier is installed on the body; the left and right rotation input gear sets respectively comprise a plurality of left and right rotation input gears, two of which are connected with the planetary gears in meshing mode; the left rotation input soft shaft is connected with the two ends of the rotation shaft of the left rotation input gear, and the right rotation input soft shaft is connected with the two ends of the rotation shaft of the right rotation input gear;

[0015] The rotation direction output gear set comprises a plurality of rotation direction output gears, and the rotation direction output soft shaft is connected with the end of the rotation shaft of the rotation direction output gear.

[0016] The rotation information is transmitted to the corresponding left / right input gear, and the rotation information is output to the traveling device through the differential processing of the planetary gear and the rotation output flexible shaft.

[0017] Preferably, the traveling device includes two groups symmetrically distributed along the circumference of the body by 180°; each group of traveling device includes: a driving wheel, a rotation wheel frame, a thrust bearing, a compression spring, a pressure regulating screw cap, a first rotation bevel gear, a second rotation bevel gear, a rotation output flexible shaft, and a power drive flexible shaft. The driving wheel is installed on the rotation wheel frame through the thrust bearing. The rotation wheel frame and the pressure regulating screw cap are connected through the compression spring. The first rotation bevel gear and the second rotation bevel gear are arranged on the rotation wheel frame and mesh with each other. The pressure regulating screw cap, the compression spring, and the axis of the first rotation bevel gear are coaxial. The power drive flexible shaft is connected with the axis of the driving wheel. The center line of the driving wheel is at 90° with the axis of the first rotation bevel gear. The rotation output flexible shaft is connected with the axis of the second rotation bevel gear.

[0018] The traveling device receives the traveling torque from the power device through the power drive flexible shaft and receives the rotation torque from the rotation information processing device through the rotation output flexible shaft, so that the robot moves along the small pipeline in a straight line forward, a straight line backward, a left rotation forward, a left rotation backward, a right rotation forward, or a right rotation backward.

[0019] When the trigger piece is in the original position, the robot moves in a straight line along the axis of the pipeline. When the robot travels to the turning position of the pipeline, the trigger piece on the left rotation trigger device or the right rotation trigger device is pressed down by the outer wall of the pipeline, thereby driving the guide rack and gear to transmit the rotation information to the rotation information processing device through the rotation input flexible shaft, and then transmitting the rotation information to the driving wheel of the traveling device through the rotation output flexible shaft, so that the robot makes corresponding rotation along the pipeline until the trigger piece is out of contact with the outer wall of the pipeline and returns to the original position under the action of the return spring. At this time, the axis of the first rotation bevel gear is dynamically perpendicular to the axis of the pipeline, thereby avoiding the driving wheel from being stuck in the corner.

[0020] Preferably, the power device includes: a reduction motor, a first output gear, and a second output gear. The reduction motor is connected with the second output gear. The second output gear is connected with a power drive flexible shaft of one group of traveling devices. The first output gear is meshed with the second output gear. The first output gear is connected with another power drive flexible shaft of another group of traveling devices.

[0021] The control system regulates the speed and direction of the power device. The power device drives the robot to move forward and backward and rotate by providing power to the traveling device.

[0022] Preferably, the outer pipe module is provided with several groups of identical support devices for maintaining stable operation of the outer pipe module; the support devices include support springs, support rods, outer rolling balls, and outer pressure regulating screw covers; the outer rolling balls are embedded in the ends of the support rods and can roll along the small pipe when moving; the support springs provide appropriate floating amounts and cooperate with the outer pressure regulating screw covers to adapt to different outer diameter pipes.

[0023] Preferably, the rotation direction sensor includes a forward direction rotation direction sensor group and a backward direction rotation direction sensor group, which are respectively arranged at the two ends of the machine body; each group of direction rotation direction sensor groups includes four rotation direction sensors, two of which are arranged along a direction perpendicular to the axis of the pipe at a distance L1 greater than the diameter D of the pipe, and the diameter D of the pipe is greater than the spacing L2 of the two rotation direction sensors along the axis of the pipe, that is, L1 > D > L2.

[0024] The prefabricated small pipe inner wall detection robot of the present application adopts an inner and outer pipe module split structure design, which can adapt to smaller inner diameter size pipes; at the same time, the present application is provided with a rotation direction triggering device, which can smoothly pass through the pipe bends, realizing the detection or operation of the small pipe inner wall. BRIEF DESCRIPTION OF DRAWINGS

[0025] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the devices and methods consistent with the present application and, together with the detailed description, serve to explain the advantages and principles consistent with the present application.

[0026] Figure 1 An exploded structural schematic diagram of the prefabricated small pipe inner wall detection robot of a preferred embodiment of the present application;

[0027] Figure 2 An outer pipe module structural schematic diagram of the prefabricated small pipe inner wall detection robot of a preferred embodiment of the present application;

[0028] Figure 3 An inner pipe module structural schematic diagram of the prefabricated small pipe inner wall detection robot of a preferred embodiment of the present application;

[0029] Figure 4 A top view schematic diagram of the inner pipe module of the prefabricated small pipe inner wall detection robot of a preferred embodiment of the present application;

[0030] Figure 5 A top view schematic diagram of the outer pipe module of the prefabricated small pipe inner wall detection robot of a preferred embodiment of the present application;

[0031] Figure 6 A structural schematic diagram of the forward direction right rotation triggering device of the prefabricated small pipe inner wall detection robot of a preferred embodiment of the present application;

[0032] Figure 7 This is a schematic diagram of the traveling device structure of a prefabricated small pipe inner wall inspection robot according to a preferred embodiment of the present invention;

[0033] Figure 8 This is a schematic diagram of the power unit structure of a prefabricated small pipe inner wall inspection robot according to a preferred embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the rotation information processing device of a prefabricated small pipe inner wall inspection robot according to a preferred embodiment of the present invention;

[0035] Figure 10 This is a schematic diagram of the external pipe module support device structure of a prefabricated small pipe inner wall inspection robot according to a preferred embodiment of the present invention;

[0036] Figure 11 This is a schematic diagram of the outer pipe module structure of the prefabricated small pipe inner wall inspection robot according to the second preferred embodiment of the present invention;

[0037] Figure 12 This is a schematic diagram of the inner pipe module structure of the prefabricated small pipe inner wall inspection robot according to the second preferred embodiment of the present invention;

[0038] Figure 13 This is a schematic diagram of the rotation sensor arrangement of the prefabricated small pipe inner wall inspection robot according to the second preferred embodiment of the present invention.

[0039] Explanation of reference numerals in the attached figures

[0040] 1-External Pipe Module 2-Internal Pipe Module 3-Pipe 11-First Body 13-Power Unit 14-Traveling Device 15-Electromagnetic Device 16-Rotation Information Processing Device 17-Rotation Triggering Device 18-Control System 19-Support Device 21-Airbag Body 22-Elastomer 23-Magnet 24-Rolling Ball 25-Rolling Ball Seat 26-Internal Body 27-Columnar Elastomer

[0041] 131 - reduction motor 132 - first output gear 133 - second output gear 134 / 135 - power drive flexible shaft 141 - drive wheel 142 - direction wheel frame 143 - thrust bearing 144 - compression spring 145 - pressure regulating screw cap 146 - first direction bevel gear 147 - second direction bevel gear 160 - bevel gear I 161 - left direction input gear set 162 - right direction input gear set 163 - direction output gear set 164 - planetary gear 165 - planetary gear frame 166 - left direction input flexible shaft 167 - right direction input flexible shaft 168 - direction output flexible shaft 169 - bevel gear II 174 - trigger piece 175 - guide rack 176 - first gear 177 - second gear 178 - direction input flexible shaft 179 - return spring 191 - outer pressure regulating screw cap 192 - support spring 193 - support rod 194 - outer rolling ball 211 - air charging and discharging port 261 - permanent magnet S1-S8 - direction sensor DETAILED DESCRIPTION

[0042] The specific embodiments of the present application will be described below in detail with reference to the accompanying drawings. However, the present application is not limited to the following described embodiments. In addition, the technical features involved in each of the embodiments of the present application described below can be combined with each other as long as there is no conflict, and the technical idea of the present application can be implemented in combination with other known technologies or other technologies identical to those known technologies.

[0043] Unless otherwise specified, the terms similar to "first", "second" appearing in the present text are not intended to refer to the order of time, quantity, or importance, but only to distinguish one technical feature in the present technical solution from another technical feature. Similarly, the adjectives similar to "about", "approximately" appearing before numerals in the present text generally include the present numerals, and the specific meaning thereof should be understood in connection with the context. Similarly, unless the noun is modified by a specific quantity of the adjectives, it should be considered to include both the singular form and the plural form in the present text, and the present technical solution can include both a single technical feature and a plurality of technical features.

[0044] In the description of the above specific embodiments, the use of the orientation terms "upper", "lower", "left", "right", "top", "bottom", "vertical", "horizontal", and "lateral" is only for the purpose of convenience of description, and should not be considered as limiting.

[0045] The preferred embodiment of the present application is described below with reference to the accompanying drawings, which are presented for the purpose of illustration and are not intended to limit the scope of the present application. The present application can be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The accompanying drawings and description are included to provide a thorough and complete disclosure of the present application and are not intended to limit the scope of the present application.

[0046] As shown in Figures 1-2 Fig. 1, a preferred embodiment of the present application provides a precast small pipe inner wall detection robot, which comprises an outer pipe module 1 and an inner pipe module 2. The outer pipe module 1 is sleeved on the outer periphery of a small pipe 3, and the inner pipe module 2 is disposed in the small pipe 3. The outer pipe module 1 can drive the inner pipe module 2 to follow.

[0047] In this embodiment, the outer pipe module 1 comprises a body 11, which comprises a first body 111 and a second body 112. The first body 111 and the second body 112 are detachably fixedly connected to form a whole. A rotation direction triggering device 17 is disposed at both ends of the body 11, and is used to obtain the rotation direction information of the robot when it encounters a bend.

[0048] Specifically, the body 11 is provided with a power device 13 for providing power, and a traveling device 14 for driving the outer pipe module 1 to rotate / move on the pipe 3 under the power provided by the power device 13 until the robot completes passing through the bend.

[0049] More specifically, the body 11 is further provided with an electromagnet device 15, a rotation direction information processing device 16 for receiving and processing the rotation direction information of the rotation direction triggering device 17, and a control system 18 including a controller for controlling the movement of the robot and the opening and closing of the electromagnet device 15.

[0050] Under the action of the magnetic force, the inner pipe module 2 is driven to follow by the outer pipe module 1.

[0051] In this embodiment, the control system 18 further comprises a storage battery, a wireless remote controller, and an electric wire (not shown in the figure). Except for the wireless remote controller, all the components of the control system 18 are installed on the outer pipe module 1. The wireless remote controller is used to remotely control the movement of the robot and the opening and closing of the electromagnet device 15.

[0052] As shown in Figures 3-4 In this embodiment, the inner pipe module 2 comprises a pair of symmetrically arranged air bag bodies 21, an elastic body 22 disposed between the pair of air bag bodies 21, and a magnet 23 and a rolling ball 24 disposed on the air bag body 21.

[0053] The air bladder 21 provides support for the ball 24 and deforms to adapt to pipes with different inner diameters. The air pressure levels inside the air bladder 21 are set by the inflation and deflation ports 211 on the air bladder 21, which can expand the range of pipe inner diameters that the inner pipe module 2 can adapt to.

[0054] In this embodiment, the rolling balls 24 are mounted on the rolling ball seat 25, and 12 rolling balls 24 are installed on the inner pipe module 2, with 6 balls on each airbag body, to support the inner pipe module 2 and allow it to move along the inner wall of the pipe 3. The elastic body 22 connects a pair of airbag bodies 21 of the inner pipe module 2, allowing the inner pipe module 2 to easily pass through bends through elastic deformation. The permanent magnet 23 mounted on the airbag body 21, under the action of magnetic force, pulls the inner pipe module 2 along with the outer pipe module 1.

[0055] like Figures 5-6 As shown, in this embodiment, the rotation triggering device 17 includes a left-hand rotation triggering device and a right-hand rotation triggering device; it is divided into two categories: forward rotation triggering device or backward rotation triggering device, with a total of 4 groups, including 2 groups of left-hand rotation triggering devices and 2 groups of right-hand rotation triggering devices. Figure 5 The first end shows the forward direction; the second end shows the backward direction.

[0056] The specific triggering conditions are as follows:

[0057] Table 1 Rotation Action Information Table

[0058]

[0059] If 174 and 173 are pressed simultaneously, the robot will move forward in a right-hand rotation if the degree of pressing 174 is greater than that of pressing 173; and it will move forward in a left-hand rotation if the degree of pressing 173 is greater than that of pressing 174. If 172 and 171 are pressed simultaneously, the robot will move forward in a right-hand rotation if the degree of pressing 172 is greater than that of pressing 171; and it will move forward in a left-hand rotation if the degree of pressing 171 is greater than that of pressing 172.

[0060] like Figure 6 As shown, the rotation triggering device 17 includes a trigger plate 174, a guide rack 175, a first gear 176 meshing with the guide rack 175, and a second gear 177 meshing with the first gear 176. The second gear 177 is connected to the rotation input flexible shaft 178. The trigger plate 174 is fixedly connected to the guide rack 175, and a return spring 179 is provided below the trigger plate 174. When the rotation triggering device 17 is not triggered, the robot moves in a straight line along the axis of the pipe 3. When the robot travels to the bend of the pipe 3, the trigger plate 17 is pressed down by the outer wall of the pipe 3, causing the rack and gear to rotate, thereby transmitting the rotation information to the rotation information processing device 16 through the rotation input flexible shaft 178.

[0061] As Figure 9 shown, the rotation information processing device 16 includes a left-rotation input gear set 161, a right-rotation input gear set 162, a rotation output gear set 163, a planetary gear 164, a planetary gear carrier 165, a left-rotation input soft shaft 166, a right-rotation input soft shaft 167, a rotation output soft shaft 168; the planetary gear 164 is a bevel gear, mounted on the planetary gear carrier 165, which is mounted on the machine body 11;

[0062] The left-rotation input gear set 161 and the right-rotation input gear set 162 each include a plurality of left-rotation input gears and a plurality of right-rotation input gears, two of which, bevel gear I / bevel gear II 169, 160, are connected in mesh with the planetary gear 164; the left-rotation input soft shaft 166 is connected to the shaft ends of the left-rotation input gears, and the right-rotation input soft shaft 167 is connected to the shaft ends of the right-rotation input gears;

[0063] The rotation output gear set 163 includes a plurality of rotation output gears, and the rotation output soft shaft 168 is connected to the shaft ends of the rotation output gears;

[0064] The rotation information is transmitted to the corresponding left-rotation / right-rotation input gears, and the rotation information is output to the traveling device 14 through the rotation output soft shaft after differential processing by the planetary gear 164.

[0065] As Figure 2 shown, the traveling device 14 includes two sets, symmetrically distributed along the circumferential direction of the machine body by 180°; as Figure 7 shown, each set of traveling device 14 includes: a drive wheel 141, a rotation wheel carrier 142, a thrust bearing 143, a compression spring 144, a pressure regulating screw cap 145, a first rotation bevel gear 146, a second rotation bevel gear 147, a rotation output soft shaft 168, a power drive soft shaft 134 / 135, the drive wheel 141 is mounted on the rotation wheel carrier 142 through the thrust bearing 143, the rotation wheel carrier 142 and the pressure regulating screw cap 145 are connected through the compression spring 144, the first rotation bevel gear 146 and the second rotation bevel gear 147 are arranged on the rotation wheel carrier 142 and mesh with each other, the pressure regulating screw cap 145, the compression spring 144 and the first rotation bevel gear 146 are coaxial; the power drive soft shaft 134 / 135 is connected with the shaft center of the drive wheel 141; the center line of the drive wheel 141 and the shaft center line of the first rotation bevel gear 146 are at 90°; the rotation output soft shaft 168 is connected with the shaft center of the second rotation bevel gear 147.

[0066] The traveling device 14 receives the traveling torque from the power device 13 through the power driving flexible shaft 134 / 135, and receives the rotating torque from the rotating information processing device 16 through the rotating output flexible shaft 168, so that the robot moves along the small pipeline 3 in a straight forward direction, a straight backward direction, a left rotating forward direction, a left rotating backward direction, a right rotating forward direction, or a right rotating backward direction.

[0067] When the trigger piece 17 is in the original position, the robot moves in a straight line along the pipeline 3. When the robot travels to the turning position of the pipeline 3, the trigger piece on the left rotating trigger device or the right rotating trigger device is pressed down by the outer wall of the pipeline, so as to drive the guide rack 175 to rotate the gears 176 and 177, transmit the rotating information to the rotating information processing device 16 through the rotating input flexible shaft, and then transmit the rotating information to the driving wheel 141 of the traveling device 14 through the rotating output flexible shaft, so that the robot moves in a corresponding rotating direction along the pipeline until the trigger piece 17 is out of contact with the outer wall of the pipeline and returns to the original position under the action of the reset spring 179. At this time, the axis of the first rotating bevel gear 146 is dynamically perpendicular to the axis of the pipeline 3, so as to avoid the driving wheel 141 from being stuck due to being trapped in the turning position.

[0068] As shown in Figure 8 , the power device 13 comprises a speed reduction motor 131, a first output gear 132, and a second output gear 133. The speed reduction motor 131 is connected with the second output gear 133, and the second output gear 133 is connected with a power driving flexible shaft 134 of one group of traveling devices. The first output gear 132 is engaged with the second output gear 133, and the first output gear 132 is connected with another power driving flexible shaft 135 of another group of traveling devices.

[0069] The control system 18 regulates the rotating speed and direction of the power device 13. The power device 13 drives the robot to move forward and backward and rotate by providing power for the traveling device 14.

[0070] Referring to Figure 10 , the outer pipeline module 1 is provided with a plurality of groups of the same supporting device 19 for maintaining the stable operation of the outer pipeline module 1. The supporting device 19 comprises a supporting spring 192, a supporting rod 193, an outer rolling ball 194, and an outer pressure regulating screw cap 191. The outer rolling ball 194 is embedded in the end of the supporting rod 193 and can roll along the small pipeline 3 during movement. The supporting spring 192 provides a proper floating amount, and cooperates with the outer pressure regulating screw cap 191 to adapt to different outer diameters of the pipeline.

[0071] In this example, the body 11 is divided into three sections, and each section is rotatably connected with each other.

[0072] Through such a structure, since the segmented structure is adopted, the outer pipeline module 1 can smoothly pass through the turning position of the pipeline.

[0073] AsFigures 11-13 As shown in the figure, it is a prefabricated small pipeline inner wall detection robot of the second preferred embodiment of the present application, which is different from the above-mentioned embodiment in that two groups of eight spin direction sensors S1-S8 are arranged at the two ends of the outer pipeline module 2, which are used to obtain the spin direction information when the robot encounters a curve.

[0074] The spin direction sensors include a forward direction spin direction sensor group and a backward direction spin direction sensor group, which are arranged at the two ends of the body 11. Four spin direction sensors S1 / S2 / S3 / S4 (S5 / S6 / S7 / S8) are arranged at the front end and the rear end of the outer pipeline module 2. The specific arrangement of the four spin direction sensors is shown in the figure. Figure 11 Two spin direction sensors are arranged along the distance L1 perpendicular to the axis direction of the pipeline 3, which is greater than the diameter D of the pipeline 3, and the diameter D of the pipeline 3 is greater than the distance L2 of the spin direction sensors along the axis direction of the pipeline 3, i.e. L1>D>L2.

[0075] The inner body 26 of the inner pipeline module 2 is a circular ring, and the permanent magnets 261 are segmented and embedded on the outer circumference of the body. The inner pipeline module 2 is embedded with six groups of permanent magnets 261, and the columnar elastic body 27 is arranged between the two segments of the inner body 26.

[0076] The prefabricated small pipeline inner wall detection robot of the present application adopts a split structure design of inner and outer pipeline modules, so that the robot can adapt to smaller inner diameter size of the pipeline. At the same time, the present application is equipped with a spin direction triggering device, which can smoothly pass through the pipeline turning place, and realizes the detection or operation of the small pipeline inner wall.

[0077] Although the specific embodiments of the present application are described above, those skilled in the art should understand that these are only illustrative, and the protection scope of the present application is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present application, and these changes and modifications all fall within the protection scope of the present application.

Claims

1. A robot for inspecting the inner wall of prefabricated small pipes, characterized in that, include: An outer pipe module and an inner pipe module are provided. The outer pipe module is fitted around the periphery of a small pipe, and the inner pipe module is placed inside the small pipe. The outer pipe module is capable of pulling the inner pipe module to move with it. The outer pipe module includes: Organism; Propeller; A rotation triggering device; the rotation triggering device is disposed on the end face of the robot body and is used to acquire rotation information when the robot encounters a curve; the rotation triggering device includes a trigger plate, a guide rack and a first gear meshing with the guide rack, and a second gear meshing with the first gear, the trigger plate being fixedly connected to the guide rack; a rotation information processing device is used to receive and process the rotation information of the rotation triggering device; The second gear is connected to the rotation direction input flexible shaft of the rotation direction information processing device, and is used to transmit the rotation direction information to the rotation direction information processing device through the rotation direction input flexible shaft; The rotation direction information is output to the traveling device via the rotation direction output flexible shaft of the rotation direction information processing device.

2. The internal wall inspection robot as described in claim 1, characterized in that, The machine body includes a first machine body and a second machine body, which are detachably and fixedly connected as a whole; The machine body is equipped with: A power unit, used to provide power; The traveling device receives power from the power unit to drive the outer pipe module to rotate or move on the pipe until the robot completes the passage through the bend.

3. The internal wall inspection robot as described in claim 1, characterized in that, The inner pipeline module includes: a pair of symmetrically arranged airbags, with an elastic body disposed between the pair of symmetrically arranged airbags; and a plurality of magnets and a plurality of rolling balls disposed on the airbags.

4. The inner wall inspection robot as described in claim 2, characterized in that, The robot body is also equipped with an electromagnet device; the control system includes a controller for controlling the movement of the robot and the opening and closing of the electromagnet device.

5. The internal wall inspection robot as described in claim 1, characterized in that, The rotation triggering device includes a left-hand triggering device and a right-hand triggering device; a reset spring is provided below the trigger plate.

6. The inner wall inspection robot as described in claim 2, characterized in that, The rotation direction information processing device further includes a left-hand input gear set, a right-hand input gear set, a rotation direction output gear set, planetary gears, and a planetary gear carrier; the rotation direction input flexible shaft includes a left-hand input flexible shaft and a right-hand input flexible shaft; the second gear is connected to the left-hand input flexible shaft or the right-hand input flexible shaft; The planetary gears are bevel gears, mounted on the planetary gear carrier, which is mounted on the machine body. The left-hand input gear set and the right-hand input gear set each include a plurality of left-hand input gears and a plurality of right-hand input gears, and two bevel gears are respectively meshed with the planetary gears; the left-hand input flexible shaft is connected to both ends of the shaft of the left-hand input gear, and the right-hand input flexible shaft is connected to both ends of the shaft of the right-hand input gear; The rotation output gear set includes several rotation output gears, and the rotation output flexible shaft is connected to the shaft end of the rotation output gear; the rotation information is transmitted to the corresponding left-hand input gear or right-hand input gear, and after differential processing by the planetary gears, the rotation information is output to the traveling device through the rotation output flexible shaft.

7. The internal wall inspection robot as described in claim 4, characterized in that, The traveling device comprises two sets, symmetrically distributed 180° along the circumference of the machine body. Each set of the traveling device includes: a drive wheel, a directional wheel frame, a thrust bearing, a compression spring, a pressure adjusting screw cap, a first directional bevel gear, a second directional bevel gear, and a power drive flexible shaft. The drive wheel is mounted on the directional wheel frame via the thrust bearing. The directional wheel frame and the pressure adjusting screw cap are connected by the compression spring. The first and second directional bevel gears are mounted on the directional wheel frame and mesh with each other. The centerlines of the pressure adjusting screw cap, the compression spring, and the first directional bevel gear are coaxial. The power drive flexible shaft is connected to the axis of the drive wheel. The centerline of the drive wheel forms a 90° angle with the axis of the first directional bevel gear. The directional output flexible shaft is connected to the axis of the second directional bevel gear. The traveling device receives the traveling torque from the power device through the power drive flexible shaft, and receives the rotational torque from the rotational information processing device through the rotational output flexible shaft, so that the robot can move along the small pipe in a straight line forward, straight line backward, left-hand forward, left-hand backward, right-hand forward, or right-hand backward.

8. The internal wall inspection robot as described in claim 7, characterized in that, The power unit includes: a geared motor, a first output gear, and a second output gear. The geared motor is connected to the second output gear, and the second output gear is connected to one of the power drive flexible shafts of a set of the traveling devices. The first output gear meshes with the second output gear. The first output gear is connected to another power drive flexible shaft of another set of the traveling devices. The control system regulates the rotational speed and direction of the power unit; the power unit drives the robot to move forward and backward and rotate by providing power to the traveling device.

9. The inner wall inspection robot as described in claim 1, characterized in that, The outer pipe module is equipped with several sets of identical support devices to maintain the stable operation of the outer pipe module. The support device includes: a support spring, a support rod, an outer ball bearing, and an outer pressure adjusting screw cap. The outer ball bearing is embedded in the end of the support rod and can roll along the small pipe during movement. The support spring provides an appropriate amount of floating and works with the outer pressure adjusting screw cap to adapt to pipes of different outer diameters.

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