A pipeline inspection robot

Abstract

The application discloses a pipeline detection robot, which comprises multiple groups of coaxially arranged variable-diameter mechanisms, detection mechanisms are arranged on a part of the variable-diameter mechanisms and are used for detecting inner walls of the pipeline, and screw-in wheels are arranged on a part of the variable-diameter mechanisms, the screw-in wheels are used for being attached to the inner walls of the pipeline under the support of variable-diameter supports, and a helix angle exists between a rolling axis of the screw-in wheels and an axis of a first annular frame in the variable-diameter mechanisms, so that the screw-in wheels are rolled along a helix line of the pipeline wall under the driving of a feeding drive, and the pipeline detection robot is axially advanced along the pipeline. The unique helix angle arrangement of the screw-in wheels realizes the driving of the robot advancing in a helix driving mode, the pipeline detection robot has the advantages of simple and compact structure, strong dragging capacity and good application in the detection of medium-diameter and even small-diameter pipelines. The variable-diameter supports are arranged in a form that concave arc surfaces of the first arc-shaped frame and the second arc-shaped frame are oppositely arranged, have a large adjustment span, and thus have good variable-diameter capacity and can be suitable for more pipelines with different diameters.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipeline detection, in particular to a pipeline detection robot. BACKGROUND

[0002] Pipeline is an important way to transport energy such as oil and natural gas, and it is of great significance to detect the pipeline to ensure its safe operation. The implementation of pipeline internal detection needs to rely on pipeline robots, but due to the complexity of the pipeline operating environment, the pipeline detection robot needs to have the function of self-adapting diameter.

[0003] The current pipeline detection robot mainly adopts spring variable diameter method and elevator variable diameter method. The spring variable diameter method mainly depends on the spring force, but as the pipe diameter increases, the spring force will gradually decrease, which cannot adapt to a larger variable diameter range, resulting in poor passability in the curved pipe; the elevator variable diameter method can realize a larger variable diameter range, but due to the large motor torque, it is not suitable for small diameter pipes.

[0004] As known from the above, although the existing pipeline detection robot can realize variable diameter function within a certain range, there is no pipeline detection robot that can be used for both small diameter pipes and large variable diameter range. Based on this, the present application proposes a new type of pipeline detection robot. SUMMARY

[0005] The purpose of the present application is to provide a new type of variable diameter pipeline detection robot, which has simple and compact structure and large variable diameter range, to solve the problems of the existing pipeline detection robots that can only be used for most large diameter pipeline detection and cannot adapt to small diameter pipeline detection, and cannot realize a larger variable diameter range.

[0006] To achieve the above purpose, the present application provides the following scheme:

[0007] The present application provides a pipeline detection robot, comprising:

[0008] The variable diameter mechanism comprises a variable diameter support, a variable diameter drive, a first ring-shaped frame and a second ring-shaped frame coaxially and movably connected with the first ring-shaped frame, the variable diameter support comprises a connecting structure, a first arc-shaped frame and a second arc-shaped frame arranged opposite to the concave surface of the first arc-shaped frame, the first end of the first arc-shaped frame and the first end of the second arc-shaped frame are hinged with the first ring-shaped frame and the second ring-shaped frame respectively, and the second end of the first arc-shaped frame and the second end of the second arc-shaped frame are hinged with the connecting structure; the variable diameter drive can drive the first ring-shaped frame and the second ring-shaped frame to rotate in the same direction at different speeds or in opposite directions, so as to adjust the span of the variable diameter support and further adjust the radial position of the connecting structure; a plurality of groups of the variable diameter mechanism are coaxially arranged, and adjacent two groups of the variable diameter mechanism are connected through an axial connecting piece;

[0009] a detection mechanism arranged on the connecting structure of a part of the variable-diameter mechanism, for detecting the inner wall of the pipeline;

[0010] a screwing-in wheel arranged on the connecting structure of the remaining part of the variable-diameter mechanism, for adhering to the inner wall of the pipeline under the support of the variable-diameter support, and the rolling axis of the screwing-in wheel and the axis of the first annular frame have a helix angle;

[0011] a feeding drive for driving the whole of the variable-diameter mechanism with the screwing-in wheel mounted thereon to rotate, so as to realize the axial movement of the pipeline detection robot along the pipeline.

[0012] Optionally, the variable-diameter mechanism is coaxially arranged with two groups, the axial connecting member is a closed cylinder, and the outer periphery of the detection mechanism is further provided with a directional wheel, the rolling axis of the directional wheel is perpendicular to the axis of the first annular frame.

[0013] Optionally, the variable-diameter mechanism is coaxially arranged with three groups, the axial connecting member is a closed cylinder, and among the three groups of variable-diameter mechanisms, the detection mechanism is arranged on the connecting structure of the middle group of variable-diameter mechanisms, the screwing-in wheels are arranged on the connecting structures of the two groups of variable-diameter mechanisms at both ends, and the helix angles of the rolling axes of the screwing-in wheels on the two groups of variable-diameter mechanisms and the axis of the first annular frame are the same in size and opposite in direction.

[0014] Optionally, the connecting structure for arranging the screwing-in wheel is a wheel frame, the wheel frame includes a middle section and first and second deflection sections arranged at both ends of the middle section, respectively, the second end of the first annular frame and the second end of the second annular frame in the same variable-diameter support are hingedly connected to the middle section, the first and second deflection sections are deflected relative to the middle section towards both sides of the middle section, respectively, the first and second deflection sections are both rotationally mounted with the screwing-in wheel, and the arrangement directions of the wheel frames on the two groups of variable-diameter mechanisms are opposite.

[0015] Optionally, in the variable-diameter mechanism with the screwing-in wheel mounted thereon, the first annular frame is a first inner gear ring, the second annular frame is a second inner gear ring, and the variable-diameter drive includes:

[0016] a planetary gear mechanism arranged inside the first inner gear ring, which includes a first motor, a planet carrier, a sun gear mounted at the center of the planet carrier, and a plurality of planet gears mounted at the outer periphery of the planet carrier, any planet gear simultaneously meshes with the sun gear and the first inner gear ring, the first motor is connected with the sun gear, and is used to drive the first inner gear ring to rotate;

[0017] An eccentric gear mechanism is arranged inside the second inner ring gear, which comprises a second motor, a gear frame and a plurality of eccentric gears mounted on the outer periphery of the gear frame, any one of the eccentric gears is engaged with the second inner ring gear, at least one of all the eccentric gears is connected with the second motor, and the second motor is used for driving the second inner ring gear to rotate;

[0018] When the eccentric gear mechanism and the planetary gear mechanism drive the second inner ring gear and the first inner ring gear to rotate in the same direction and at the same speed, the eccentric gear mechanism and the planetary gear mechanism jointly serve as the feeding drive.

[0019] Optionally, in the variable-diameter mechanism provided with the detection mechanism, the first annular frame is a third inner ring gear, the second annular frame is a fixed annular frame, and the variable-diameter drive is one of the eccentric gear mechanism and the planetary gear mechanism, so as to drive the third inner ring gear to rotate relative to the fixed annular frame.

[0020] Optionally, end covers are arranged at the outer ends of the variable-diameter mechanisms located at the axial two ends of the pipeline detection robot.

[0021] Optionally, mounting holes are further arranged on the end covers.

[0022] Optionally, the outer periphery of any one of the variable-diameter mechanisms is uniformly distributed with a plurality of groups of variable-diameter supports.

[0023] Optionally, the detection mechanism comprises a detection probe.

[0024] Optionally, the detection probe is a magnetic flux leakage detection probe or an eddy current detection probe.

[0025] The present application has the following technical effects relative to the prior art:

[0026] The pipeline detection robot disclosed by the present application comprises a plurality of groups of coaxially arranged variable-diameter mechanisms, a detection mechanism for detecting the inner wall of a pipeline is arranged on a part of the variable-diameter mechanisms, and a screwing-in wheel is arranged on the remaining variable-diameter mechanisms, the screwing-in wheel is used for being attached to the inner wall of the pipeline under the support of the variable-diameter support, and there is a helix angle between the rolling axis of the screwing-in wheel and the axis of the first annular frame in the variable-diameter mechanism, so that the pipeline detection robot can move along the pipeline in the axial direction under the driving action of the feeding drive. The specific beneficial effects of the above-mentioned pipeline detection robot are as follows:

[0027] (1) The unique helix angle arrangement of the screwing-in wheel realizes the driving of the robot in a helical driving mode, which not only has a simple and compact structure and strong dragging capacity, but also can be well applied to the detection of medium-diameter and even small-diameter pipelines.

[0028] (ii) The diameter-changing support adopts the form of the first arc-shaped frame and the second arc-shaped frame with their concave arc surfaces arranged opposite each other, which has a large adjustment span, thus achieving good diameter-changing capability and a large diameter-changing range, which can adapt to pipes with more diameters.

[0029] (III) The axial structure of each diameter-changing mechanism and axial connecting component in the robot is simple and the axial dimension is small, so the robot as a whole has good passage through bends.

[0030] (iv) The variable diameter support adopts an arc-shaped frame structure, which has a certain degree of elasticity in the radial direction of the pipe, improving the robot's passability and reducing the accuracy requirements of the control system. At the same time, due to the elasticity of the arc-shaped frame, there is a certain buffer when the detection mechanism comes into contact with the pipe wall, thus protecting the detection mechanism.

[0031] (v) The robot adopts a modular design, and the number and specific combination of the variable diameter mechanism can be adjusted as needed. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the overall structure of the pipeline inspection robot disclosed in the embodiments of the present invention;

[0034] Figure 2 This is a schematic diagram of the diameter-changing mechanism with a rotary advance wheel in the pipeline inspection robot disclosed in the embodiments of the present invention;

[0035] Figure 3 for Figure 2 A schematic diagram of the structure of the second internal gear ring of the variable diameter mechanism shown in the figure;

[0036] Figure 4 This is a schematic diagram of the variable diameter mechanism with a detection mechanism in the pipeline inspection robot disclosed in the embodiments of the present invention;

[0037] Figure 5 This is a schematic diagram of the structure of the advance wheel disclosed in the embodiments of the present invention;

[0038] Figure 6 This is a schematic diagram of the arrangement structure of the first and second advancing wheels disclosed in the embodiments of the present invention.

[0039] The attached figures are labeled as follows:

[0040] 100. Pipeline inspection robot;

[0041] 1, first variable diameter mechanism; 11, first inner gear ring; 12, second inner gear ring; 13, first arc-shaped frame; 14, second arc-shaped frame; 15, first motor; 16, planetary carrier; 17, sun gear; 18, planet gear; 19, second motor; 110, first gear carrier; 111, first eccentric gear;

[0042] 2, second variable diameter mechanism; 21, third inner gear ring; 22, third motor; 23, second gear carrier; 24, second eccentric gear; 25, fixed ring-shaped frame;

[0043] 3, third variable diameter mechanism;

[0044] 4, wheel carrier; 41, first intermediate section; 42, first deflection section; 43, second deflection section;

[0045] 5, reverse wheel carrier; 51, second intermediate section; 52, third deflection section; 53, fourth deflection section;

[0046] 6, axial connecting piece;

[0047] 7, detection mechanism;

[0048] 8, first screwing-in wheel;

[0049] 9, second screwing-in wheel;

[0050] 10, end cover; 101, mounting hole. DETAILED DESCRIPTION

[0051] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0052] One of the purposes of the present application is to provide a new variable diameter pipeline detection robot, which has simple and compact structure and large variable diameter range, so as to solve the problems that the existing pipeline detection robots are only suitable for detecting most large-diameter pipelines and cannot adapt to small-diameter pipeline detection, and cannot realize a large variable diameter range.

[0053] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0054] Embodiment one

[0055] As Figure 1As shown, the embodiment provides a pipeline detection robot 100, which comprises a variable-diameter mechanism, a detection mechanism 7, a screwing wheel and a feeding drive. The variable-diameter mechanism comprises a variable-diameter support, a variable-diameter drive, a first annular frame and a second annular frame coaxial with the first annular frame and movably connected. The variable-diameter support comprises a connecting structure, a first arc-shaped frame 13 and a second arc-shaped frame 14. Both the first arc-shaped frame 13 and the second arc-shaped frame 14 are arc-shaped structures. In the same set of variable-diameter supports, the concave arc surface of the first arc-shaped frame 13 is oppositely arranged with the concave arc surface of the second arc-shaped frame 14. The first end (radial inner end) of the first arc-shaped frame 13 and the first end (radial inner end) of the second arc-shaped frame 14 are respectively hinged with the first annular frame and the second annular frame. The second end (radial outer end) of the first arc-shaped frame 13 and the second end (radial outer end) of the second arc-shaped frame 14 are both hinged with the connecting structure. The variable-diameter drive can drive the first annular frame and the second annular frame to rotate reversely or simultaneously and at the same speed with a differential speed, so as to make the first annular frame and the second annular frame relatively rotate, change the central angle between the first end (radial inner end) of the first arc-shaped frame 13 and the first end (radial inner end) of the second arc-shaped frame 14, and further change the span of the entire variable-diameter support in the circumferential direction of the variable-diameter mechanism. Meanwhile, in the variable-diameter support, the connecting structure between the second end (radial outer end) of the first arc-shaped frame 13 and the second end (radial outer end) of the second arc-shaped frame 14 is correspondingly adjusted in the radial position, that is, the speed difference of the first annular frame and the second annular frame increases, the central angle between the first end (radial inner end) of the first arc-shaped frame 13 and the first end (radial inner end) of the second arc-shaped frame 14 increases, and the connecting structure between the second end (radial outer end) of the first arc-shaped frame 13 and the second end (radial outer end) of the second arc-shaped frame 14 moves relatively radially inward relative to the first annular frame (or the second annular frame), so as to achieve the purpose of adjusting the diameter of the robot. Conversely, when the speed difference of the first annular frame and the second annular frame decreases, the central angle between the first end (radial inner end) of the first arc-shaped frame 13 and the first end (radial inner end) of the second arc-shaped frame 14 decreases, and the connecting structure between the second end (radial outer end) of the first arc-shaped frame 13 and the second end (radial outer end) of the second arc-shaped frame 14 moves relatively radially outward relative to the first annular frame (or the second annular frame), so as to achieve the purpose of expanding the diameter of the robot. In addition, when the first annular frame and the second annular frame are both stationary or simultaneously rotate at the same speed, the relative rotation between the first annular frame and the second annular frame no longer occurs. At this time, the radial position of the connecting structure between the second end (radial outer end) of the first arc-shaped frame 13 and the second end (radial outer end) of the second arc-shaped frame 14 relative to the first annular frame (or the second annular frame) remains unchanged, which is suitable for pipeline sections without diameter changes. Generally, after the robot is adjusted to the right position in the radial direction, the speed of the first annular frame and the second annular frame is adjusted to be the same until the detection of the pipeline section with the same diameter is completed. The variable-diameter mechanism in the above-mentioned pipeline detection robot 100 is coaxially provided with multiple sets, such as two sets, three sets or more sets, and the adjacent two sets of variable-diameter mechanisms are connected through an axial connecting piece 6, thereby forming an integrated pipeline detection robot 100.The detection mechanism 7 is arranged on a part of all variable diameter mechanisms constituting the pipeline detection robot 100, and is arranged on the corresponding connecting structure and used for detecting the inner wall of the pipeline. The screw-in wheels are arranged on the remaining parts of all variable diameter mechanisms, and are arranged on the corresponding connecting structure and used for being attached to the inner wall of the pipeline under the support of the variable diameter support, and the helix angle between the rolling axis of the screw-in wheel and the axis of the first annular frame (or the second annular frame) exists. The feed drive is used for driving the whole variable diameter mechanism with the screw-in wheel to rotate, and in this process, the screw-in wheel with the helix angle between the rolling axis and the axis of the first annular frame (or the second annular frame) rolls along the helix line direction of the inner wall of the pipeline, and further drives the whole pipeline detection robot 100 to move along the axial direction of the pipeline.

[0056] In the embodiment, the variable diameter mechanisms with the screw-in wheels and the variable diameter mechanisms with the detection mechanism 7 can be synchronously adjusted by controlling the variable diameter drives in the variable diameter mechanisms, or the variable diameter mechanisms with the screw-in wheels are first adjusted to be attached to and pressed against the inner wall of the pipeline under the support of the variable diameter support, so as to drive the pipeline detection robot 100 to move along the axial direction of the pipeline, and then the variable diameter mechanisms with the detection mechanism 7 are adjusted to be closest to the inner wall of the pipeline, so as to realize the accurate detection of the inner wall of the pipeline. The structure arrangement and working principle of the pipeline detection robot 100 in the embodiment are specifically described below by taking the pipeline detection robot 100 with three groups of coaxial variable diameter mechanisms as an example.

[0057] As shown in FIG. 1, Figure 1 The three groups of variable diameter mechanisms are coaxially arranged, and for the convenience of distinguishing and describing, the three groups of variable diameter mechanisms are sequentially arranged from front to back as the first variable diameter mechanism 1, the second variable diameter mechanism 2 and the third variable diameter mechanism 3. The connecting structure of the middle second variable diameter mechanism 2 is provided with the detection mechanism 7, which constitutes the detection unit of the whole pipeline detection robot 100. The connecting structures of the first variable diameter mechanism 1 and the third variable diameter mechanism 3 at both ends are provided with the screw-in wheels, which constitute the screw-in unit of the whole pipeline detection robot 100, and the rolling axes of the screw-in wheels on the first variable diameter mechanism 1 and the third variable diameter mechanism 3 are reversely extended. In the above-mentioned first variable diameter mechanism 1, the second variable diameter mechanism 2 and the third variable diameter mechanism 3, the minimum outer diameters (the minimum values of the variable diameter adjustment ranges) of the three are the same, the maximum outer diameters (the maximum values of the variable diameter adjustment ranges) of the first variable diameter mechanism 1 and the third variable diameter mechanism 3 are the same and are not less than the maximum outer diameter of the second variable diameter mechanism 2. The axial connecting pieces 6 connected between the first variable diameter mechanism 1 and the second variable diameter mechanism 2 and connected between the second variable diameter mechanism 2 and the third variable diameter mechanism 3 are preferably closed cylinder pieces, and the connection modes between the closed cylinder pieces and the first variable diameter mechanism 1, the second variable diameter mechanism 2 and the third variable diameter mechanism 3 do not affect the variable diameter adjustment of the variable diameter mechanisms.

[0058] In this embodiment, the connecting structure for setting the screwing wheel, i.e. the connecting structure in the first variable-diameter mechanism 1 and the third variable-diameter mechanism 3, is a wheel frame. Taking the wheel frame 4 in the first variable-diameter mechanism 1 as an example, as shown in Figure 1 、 Figure 2 and Figure 5 , the wheel frame 4 comprises a first intermediate section 41 and first and second offset sections 42 and 43 respectively arranged at both ends of the first intermediate section 41. The second ends of the first and second arc-shaped frames 13 and 14 in the same variable-diameter support are hingedly connected to the first intermediate section 41, and preferably the hinging shafts of the first and second arc-shaped frames 13 and 14 on the first intermediate section 41 are coaxial. The first and second offset sections 42 and 43 are respectively offset relative to the first intermediate section 41 towards both sides of the first intermediate section 41, and the first and second offset sections 42 and 43 are parallel. A screwing wheel is rotatably mounted on each of the first and second offset sections 42 and 43. For the sake of distinction, the screwing wheels mounted on the first and second offset sections 42 and 43 are defined as "first screwing wheels 8". As shown in Figure 5 and Figure 6 , the rolling axes of all the first screwing wheels 8 on the same wheel frame 4 have a helix angle with the axis of the first annular frame (or the second annular frame) in the first variable-diameter mechanism 1, and the helix angles of the first screwing wheels 8 are the same in size and direction.

[0059] The connecting structure in the third variable-diameter mechanism 3 is also a wheel frame, and in order to realize the axial helical feeding of the pipeline inspection robot 100, the wheel frame in the third variable-diameter mechanism 3 is the same in structure as the above-mentioned wheel frame 4, but the arrangement is opposite to that of the wheel frame 4. For the sake of distinction, the wheel frame of the third variable-diameter mechanism 3 is defined as "reverse wheel frame 5". As shown in Figure 1 and Figure 6 , the reverse wheel frame 5 comprises a second intermediate section 51 and third and fourth offset sections 52 and 53 respectively arranged at both ends of the second intermediate section 51. As shown in Figure 6 , in the axial direction of the pipeline inspection robot 100, the offset direction of the third offset section 52 in the reverse wheel frame 5 is opposite to that of the first offset section 42 in the wheel frame 4, and correspondingly, the offset direction of the fourth offset section 53 is also opposite to that of the second offset section 43 in the wheel frame 4. The second ends of the first and second arc-shaped frames 13 and 14 in the same variable-diameter support are hingedly connected to the second intermediate section 51, and preferably the hinging shafts of the first and second arc-shaped frames 13 and 14 on the second intermediate section 51 are coaxial. The third and fourth offset sections 52 and 53 are respectively offset relative to the second intermediate section 51 towards both sides of the second intermediate section 51, and the third and fourth offset sections 52 and 53 are parallel. A screwing wheel is rotatably mounted on each of the third and fourth offset sections 52 and 53. For the sake of distinction, the screwing wheels mounted on the third and fourth offset sections 52 and 53 are defined as "second screwing wheels 9".Figure 5 and Figure 6 As shown in FIG. 1, the rolling axes of all the second screw wheels 9 on the same counter- wheel frame 5 have the same helix angle with the axis of the first annular frame (or the second annular frame) in the third variable-diameter mechanism 3, and the helix angle of each second screw wheel 9 is the same in size and direction; meanwhile, the rolling axes of the second screw wheels 9 in the third variable-diameter mechanism 3 have the same helix angle in size and opposite direction with the rolling axes of the first screw wheels 8 in the first variable-diameter mechanism 1 relative to the helix angle of the first annular frame.

[0060] In the embodiment, the variable-diameter mechanisms with screw wheels, i.e. the first variable-diameter mechanism 1 and the third variable-diameter mechanism 3, have the first annular frame as the first inner gear ring 11 and the second annular frame as the second inner gear ring 12, and the variable-diameter drive includes two sets of drive mechanisms, i.e. the planetary gear mechanism and the eccentric gear mechanism. Figure 2 As shown in FIG. 1, the planetary gear mechanism is arranged inside the first inner gear ring 11, which includes a first motor 15, a planetary carrier 16, a sun gear 17 arranged at the center of the planetary carrier 16, and a plurality of planetary gears 18 arranged at the outer periphery of the planetary carrier 16, any one of the planetary gears 18 is in mesh with the first inner gear ring 11, any one of the planetary gears 18 is in mesh with the sun gear 17, the first motor 15 is connected with the sun gear 17 for driving the first inner gear ring 11 to rotate. Figure 2 As shown in FIG. 1, the planetary gears 18 are arranged in three. The eccentric gear mechanism is arranged inside the second inner gear ring 12, which includes a second motor 19, a first gear frame 110, and a plurality of first eccentric gears 111 arranged at the outer periphery of the first gear frame 110, any one of the first eccentric gears 111 is in mesh with the second inner gear ring 12, and at least one of all the first eccentric gears 111 is connected with the second motor 19 for driving the second inner gear ring 12 to rotate. As a preferred solution, one second motor 19 is connected with each first eccentric gear 111 in the embodiment. The differential speed of the same direction rotation of the first inner gear ring 11 and the second inner gear ring 12 can be controlled by controlling the rotation speed of the first motor 15 and the second motor 19, so as to realize the variable-diameter adjustment. In order to improve the driving capacity, the first eccentric gears 111 in the eccentric gear mechanism are arranged in three.

[0061] Further, in order to further improve the integration and structural compactness of the pipeline detection robot 100, the first variable diameter mechanism 1 and the third variable diameter mechanism 3 can respectively use the eccentric gear mechanism and the planetary gear mechanism in each mechanism as the feed drive. Taking the first variable diameter mechanism 1 as an example, when the first variable diameter mechanism 1 uses the eccentric gear mechanism and the planetary gear mechanism to adjust the first rolling-in wheel 8 radially to be in close contact with the inner wall of the pipeline, the radial position of the first rolling-in wheel 8 is no longer adjusted, and then the second inner gear ring 12 and the first inner gear ring 11 can be driven to rotate at the same speed and in the same direction by the eccentric gear mechanism and the planetary gear mechanism. The second inner gear ring 12 and the first inner gear ring 11 do not rotate relative to each other, but are relatively stationary. At this time, the eccentric gear mechanism and the planetary gear mechanism cooperate with each other and serve as the feed drive of the first variable diameter mechanism 1, driving the pipeline detection robot 100 to axially and spirally feed in the pipeline. In the third variable diameter mechanism 3, since the rolling axis of the second rolling-in wheel 9 extends in the opposite direction of the rolling axis of the first rolling-in wheel 8, when the second rolling-in wheel 9 in the third variable diameter mechanism 3 is adjusted radially to be in close contact with the inner wall of the pipeline by the adjustment of the eccentric gear mechanism and the planetary gear mechanism, the second inner gear ring 12 and the first inner gear ring 11 in the third variable diameter mechanism 3 can be driven to rotate at the same speed and in the same direction by the eccentric gear mechanism and the planetary gear mechanism in the third variable diameter mechanism 3. The rotation direction of the second inner gear ring 12 and the first inner gear ring 11 in the third variable diameter mechanism 3 is opposite to that of the second inner gear ring 12 and the first inner gear ring 11 in the first variable diameter mechanism 1, and the rotation speed is the same. Thus, the first variable diameter mechanism 1 and the third variable diameter mechanism 3 are reversely and synchronously driven to achieve the purpose of axially and spirally feeding the pipeline detection robot 100 in the pipeline.

[0062] In actual application, when the detection mechanism 7 detects a local defect in the pipeline, the pipeline detection robot 100 can be controlled to rotate in place to achieve further fine detection of the defect area. Based on the structure in which the eccentric gear mechanism and the planetary gear mechanism in the first variable diameter mechanism 1 and the third variable diameter mechanism 3 serve as the feed drive, and under the premise that the first rolling-in wheel 8 and the second rolling-in wheel 9 are in close contact with the inner wall of the pipeline and the radial position is no longer adjusted (i.e., the second inner gear ring 12 and the first inner gear ring 11 in the first variable diameter mechanism 1 rotate at the same speed and in the same direction, and the second inner gear ring 12 and the first inner gear ring 11 in the third variable diameter mechanism 3 also rotate at the same speed and in the same direction), the rotation direction of the second inner gear ring 12 and the first inner gear ring 11 in the third variable diameter mechanism 3 is the same as that of the second inner gear ring 12 and the first inner gear ring 11 in the first variable diameter mechanism 1, and the rotation speed is the same. Thus, the first variable diameter mechanism 1 and the third variable diameter mechanism 3 are synchronously driven in the same direction to achieve the purpose of in-place rotation detection of the pipeline detection robot 100 in the pipeline, and the pipeline detection robot 100 does not move axially in the pipeline.

[0063] In the embodiment, the variable-diameter mechanism, i.e., the second variable-diameter mechanism 2, in which the detection mechanism 7 is installed, has the first annular frame as the third inner gear ring 21 and the second annular frame as the fixed annular frame 25, and the variable-diameter drive can be one of the eccentric gear mechanism and the planetary gear mechanism to drive the third inner gear ring 21 to rotate relative to the fixed annular frame 25, the fixed annular frame 25 has a rotational speed of zero relative to the third inner gear ring 21, and the relative rotation between the third inner gear ring 21 and the fixed annular frame 25 also belongs to one of the aforementioned same-direction differential rotations. In the embodiment, the variable-diameter drive of the second variable-diameter mechanism 2 is preferably the aforementioned eccentric gear mechanism, which is arranged inside the third inner gear ring 21 and specifically includes a third motor 22, a second gear frame 23, and a plurality of second eccentric gears 24 mounted on the outer periphery of the second gear frame 23, any one of the second eccentric gears 24 is in mesh with the third inner gear ring 21, and any one of the second eccentric gears 24 is connected to a third motor 22, and the third motor 22 is used to drive the third inner gear ring 21 to rotate relative to the fixed annular frame 25 to achieve variable-diameter adjustment of the connection structure in the second variable-diameter mechanism 2.

[0064] In the embodiment, the first variable-diameter mechanism 1, the second variable-diameter mechanism 2, and the third variable-diameter mechanism 3 are coaxially arranged along the axial direction of the pipeline detection robot 100, and are arranged in the order of the first inner gear ring 11 of the first variable-diameter mechanism 1, the second inner gear ring 12 of the first variable-diameter mechanism 1, the axial connecting piece 6, the third inner gear ring 21 of the second variable-diameter mechanism 2, the fixed annular frame 25 of the second variable-diameter mechanism 2, the axial connecting piece 6, the first inner gear ring 11 of the third variable-diameter mechanism 3, and the second inner gear ring 12 of the third variable-diameter mechanism 3. In order to ensure that the variable-diameter functions of the first variable-diameter mechanism 1, the second variable-diameter mechanism 2, and the third variable-diameter mechanism 3 are independent, and the axial helical feeding function and the in-situ self-rotation detection function of the pipeline detection robot 100 are intact, the axial connecting piece 6 between the first variable-diameter mechanism 1 and the second variable-diameter mechanism 2 is preferably connected to the first gear frame 110 in the first variable-diameter mechanism 1 and the second gear frame 23 of the second variable-diameter mechanism 2 at both ends, and the third motor 22 and the first motor 15 and the second motor 19 in the first variable-diameter mechanism 1 can also be installed inside the axial connecting piece 6. Correspondingly, the axial connecting piece 6 between the second variable-diameter mechanism 2 and the third variable-diameter mechanism 3 is connected to the fixed annular frame 25 of the second variable-diameter mechanism 2 and the planetary carrier 16 of the third variable-diameter mechanism 3 at both ends, and the first motor 15 and the second motor 19 in the third variable-diameter mechanism 3 can also be installed inside the axial connecting piece 6. In order to improve the integration and convenience of the robot, the first variable-diameter mechanism 1, the second variable-diameter mechanism 2, and the third variable-diameter mechanism 3 are preferably connected through the axial connecting piece 6 in a quick-release manner, such as concave-convex structure insertion, magnetic attraction connection, etc. between the axial connecting piece 6 and the first gear frame 110 in the first variable-diameter mechanism 1, the second gear frame 23 of the second variable-diameter mechanism 2, the fixed annular frame 25 of the second variable-diameter mechanism 2, and the planetary carrier 16 of the third variable-diameter mechanism 3, facilitating disassembly and assembly of the pipeline detection robot 100.

[0065] In this embodiment, to improve the operational stability of the pipeline inspection robot 100, multiple sets of diameter-changing supports, typically three or more, are evenly distributed around the outer periphery of any one of the diameter-changing mechanisms: the first diameter-changing mechanism 1, the second diameter-changing mechanism 2, and the third diameter-changing mechanism 3. Figures 1 to 4 As shown, preferably, the first diameter-changing mechanism 1 and the third diameter-changing mechanism 3 each have three sets of diameter-changing supports evenly distributed circumferentially, and each set of diameter-changing supports is equipped with a corresponding wheel frame and a spiral wheel. The diameter-changing mechanism 2 has six sets of diameter-changing supports evenly distributed circumferentially, and each set of diameter-changing supports has a detection mechanism 7 on its connecting structure. The detection mechanism 7 specifically includes a detection probe, which can be a commonly used pipe probe such as a magnetic flux leakage detection probe or an eddy current detection probe.

[0066] This embodiment also includes end caps 10. End caps 10 are provided at the outermost ends of the diameter-changing mechanisms located at both axial ends of the pipeline inspection robot 100, specifically the first diameter-changing mechanism 1 and the third diameter-changing mechanism 3. Combined with the cylindrical structure of the axial connector 6, the pipeline inspection robot 100 can be a completely enclosed, hollow cylindrical robot. The end caps 10 effectively ensure the airtightness of the internal space of the pipeline inspection robot 100. In actual operation, the interior of the pipeline inspection robot 100, such as the inner wall of the axial connector 6, can be adapted to accommodate the drive circuit board of the robot control system. A gyroscope can also be installed inside the axial connector 6 to obtain the robot's position and the angle of circumferential rotation when the robot performs a comprehensive defect inspection. Additionally, a miniature industrial camera can be installed on the outside of the end caps 10 to allow the robot to observe the internal conditions of the pipeline while it is running inside.

[0067] Furthermore, mounting holes 101 can be provided on the end cap 10 for connecting towing cables or threading cables from other groups (sections) of the reducing mechanism. The end cap 10 and mounting holes 101 can also be used to connect two groups of robots or to mount accessories such as cameras and power supplies. Corresponding wiring channels can also be provided within the axial connector 6. In the pipeline inspection robot 100, cables for electrical components such as motors, gyroscopes, cameras, and control systems can be threaded through the wiring channels on the axial connector 6 within the robot's internal space, completely sealing the circuitry inside the robot, resulting in good integration and high safety.

[0068] The working process and working principle of the pipeline inspection robot 100 described in this embodiment will be explained in detail below.

[0069] In implementation, first, the pipe detection robot 100 is placed in the pipe, wherein the first variable-diameter mechanism 1 is arranged as the head end of the pipe detection robot 100, and the third variable-diameter mechanism 3 is arranged as the tail end of the pipe detection robot 100, the first variable-diameter mechanism 1 and the third variable-diameter mechanism 3 respectively drive the first inner gear ring 11 to rotate through the first motor 15 and the second motor 19, and the second inner gear ring 12 rotates at the same speed as the first inner gear ring 11 and at a differential speed (the rotation speed of the first inner gear ring 11 is greater than that of the second inner gear ring 12), thereby increasing the bottom span of the variable-diameter support, the first variable-diameter mechanism 1 and the third variable-diameter mechanism 3 realize variable-diameter, until the first helical gear 8 of the first variable-diameter mechanism 1 and the second helical gear 9 of the third variable-diameter mechanism 3 are in close contact with the inner wall of the pipe, and are pressed tightly, as shown in Figure 2 .

[0070] Then, the third motor 22 drives the third inner gear ring 21 to rotate relative to the fixed ring frame 25, so that the bottom span of the variable-diameter support in the second variable-diameter mechanism 2 is increased, and the second variable-diameter mechanism 2 realizes variable-diameter, until the detection mechanism 7 is in close contact with the inner wall of the pipe, as shown in Figure 4 In order to reduce the wear of the detection mechanism, generally, there is a gap of about 1mm between the detection mechanism 7 and the inner wall of the pipe.

[0071] Then, the rotation speed and direction of the first motor 15 and the second motor 19 in the first variable-diameter mechanism 1 are the same, and the rotation speed and direction of the first motor 15 and the second motor 19 in the third variable-diameter mechanism 3 are also the same, but the rotation direction of the first motor 15 and the second motor 19 in the first variable-diameter mechanism 1 is opposite to that of the first motor 15 and the second motor 19 in the third variable-diameter mechanism 3, and the rotation speed is the same, based on the principle of the Mecanum wheel, in this process, the torque of the first variable-diameter mechanism 1 and the third variable-diameter mechanism 3 acting on the second variable-diameter mechanism 2 is offset, and the pipe detection robot 100 can be driven to move in the pipe along the axial direction of the pipe, and in the process of moving of the robot, the detection mechanisms 7 uniformly distributed along the circumferential direction of the second variable-diameter mechanism 2 obtain the detection signals of the pipe wall. The detection mechanism 7 adopts an angle-convertible probe, and can realize random detection of defects in the pipe.

[0072] When a defect signal is found in the detection signal, or the robot reaches a defect-prone position such as a valve, a welding joint, an accessory connection, etc., the rotation speeds and directions of the first motor 15 and the second motor 19 in the first variable-diameter mechanism 1 are the same, and the rotation speeds and directions of the first motor 15 and the second motor 19 in the third variable-diameter mechanism 3 are also the same, but the rotation directions and speeds of the first motor 15 and the second motor 19 in the first variable-diameter mechanism 1 are the same as those of the first motor 15 and the second motor 19 in the third variable-diameter mechanism 3. At this time, the robot as a whole rotates in place around its own axis in the pipeline under the torque action of the first variable-diameter mechanism 1 and the third variable-diameter mechanism 3, can realize comprehensive detection in the circumferential direction at the position, and realizes targeted comprehensive detection of pipeline defects.

[0073] As known above, the pipeline detection robot 100 of the embodiment realizes the head-tail double-drive spiral advancing mode through the cooperation of the first variable-diameter mechanisms and the third variable-diameter mechanisms at both ends, has good driving force, and can quickly realize directional detection and comprehensive detection of the pipeline in cooperation with the spiral advancing wheels, the detection mechanism and other components, is reliable in operation, and is high in detection efficiency. The specific beneficial effects of the pipeline detection robot 100 are as follows:

[0074] 1. The unique spiral angle arrangement of the spiral advancing wheel realizes spiral driving method to drive the robot to advance, which not only has a simple and compact structure and strong dragging capacity, but also can be well applied to the detection of medium-diameter and even small-diameter pipelines.

[0075] 2. The variable-diameter support adopts the form of opposite arrangement of the concave arc surfaces of the first arc-shaped bracket and the second arc-shaped bracket, has a large adjustment span, and thus can realize good variable-diameter capability and a large variable-diameter range, and can adapt to more pipelines of different diameters.

[0076] 3. The axial structures of the variable-diameter mechanisms and the axial connecting pieces in the robot are simple, and the axial dimensions are small, so that the robot as a whole has good passability to bent pipes.

[0077] 4. The variable-diameter support adopts the structure of the arc-shaped bracket, which has a certain elasticity in the radial direction of the pipeline, can improve the passability of the robot, and can reduce the requirement for the precision of the control system. At the same time, since the arc-shaped bracket has a certain elasticity, the detection mechanism has a certain buffer when contacting the pipe wall, so as to protect the detection mechanism.

[0078] 5. Multiple detection probes can be simultaneously loaded, and the circumferential driving of the robot as a whole by the first variable-diameter mechanism and the third variable-diameter mechanism can realize comprehensive detection of the inner wall of the pipeline by the robot.

[0079] 6. The variable-diameter supports are distributed on the outer surface of the robot, the internal space of the robot is a fixed structure and does not rotate, and the internal space of the robot is left for arranging multiple communication lines and a control system which axially penetrate the robot, so as to simplify the installation process of the control system.

[0080] 7. The robot as a whole adopts a modular design, the number of combination of the variable-diameter mechanisms can be adjusted as required, and the matching mode of the detection mechanism and the set of spiral wheels in the robot can be flexibly adjusted, thereby improving the flexibility of the robot.

[0081] 8. The robot is sealed by end covers at both ends to form a closed space inside, has high integration and good sealing performance, and can avoid exposure of electronic components and connection lines in the pipeline, thereby reducing the safety risk caused by electric sparks generated by the circuit.

[0082] The above pipeline detection robot 100 is essentially a variable-diameter spiral pipeline detection robot. In application, the robot is not limited to the combination of the first variable-diameter mechanism 1, the second variable-diameter mechanism 2 and the third variable-diameter mechanism 3. The number of variable-diameter mechanisms for installing spiral wheels and the number of variable-diameter mechanisms for installing detection mechanisms can be adaptively increased as required, and only the direction of the helical angle of the spiral wheel on each variable-diameter mechanism needs to be controlled to ensure that the robot has normal helical marching function and in-situ self-rotation detection function.

[0083] Embodiment Two

[0084] The pipeline detection robot 100 of the present embodiment is different from that of Embodiment One in that only two groups of variable-diameter mechanisms are coaxially arranged in the present embodiment, one group of which is used to install spiral wheels and the other group is used to install detection mechanisms. The specific installation structure and working principle of the spiral wheels and the detection mechanisms are described with reference to Embodiment One, and the specific structure and driving form of the two groups of variable-diameter mechanisms are also described with reference to Embodiment One. The arrangement form of the axial connecting member 6 and the end cover and other fittings is also described with reference to Embodiment One, and will not be described in detail here.

[0085] It should be noted that since only one group of variable-diameter mechanisms is installed with spiral wheels, in order to offset the frictional force of the reaction torque when the spiral wheels rotate in close contact with the inner wall of the pipeline, a directional wheel needs to be arranged on the outer wall of the detection mechanism 7 in the present embodiment, and the rolling axis of the directional wheel is perpendicular to the axis of the first annular frame to guide the marching direction of the robot.

[0086] It should be noted that for those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application, and any reference signs in the claims should not be regarded as limiting the claims.

[0087] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A pipeline inspection robot, characterized in that, include: A diameter-changing mechanism includes a diameter-changing bracket, a diameter-changing drive, a first annular frame, and a second annular frame coaxial with and movably connected to the first annular frame. The diameter-changing bracket includes a connecting structure, a first arc-shaped frame, and a second arc-shaped frame arranged opposite to the concave surface of the first arc-shaped frame. The first end of the first arc-shaped frame and the first end of the second arc-shaped frame are respectively hinged to the first annular frame and the second annular frame. The second end of the first arc-shaped frame and the second arc-shaped frame are both hinged to the connecting structure. The diameter-changing drive can drive the first annular frame and the second annular frame to rotate in the same direction at a differential speed or in opposite directions to adjust the span of the diameter-changing bracket, thereby adjusting the radial position of the connecting structure. Three sets of diameter-changing mechanisms are coaxially arranged, and adjacent sets of diameter-changing mechanisms are connected by an axial connector. The axial connector is a closed cylindrical component. The detection mechanism is installed on the connection structure of a portion of the diameter-changing mechanism and is used to detect the inner wall of the pipe; A spiral wheel is disposed on the connecting structure of the remaining portion of the diameter-changing mechanism, and is used to fit against the inner wall of the pipe under the support of the diameter-changing bracket, and there is a helical angle between the rolling axis of the spiral wheel and the axis of the first annular frame. A feed drive is used to drive the diameter-changing mechanism, which is equipped with the spiral wheel, to rotate as a whole, so as to enable the pipe inspection robot to travel along the pipe axis; in the diameter-changing mechanism equipped with the spiral wheel, the diameter-changing drive includes a planetary gear mechanism and an eccentric gear mechanism, and the eccentric gear mechanism and the planetary gear mechanism together serve as the feed drive; In the three sets of diameter changing mechanisms, the detection mechanism is provided on the connecting structure of the middle set of diameter changing mechanisms, and the advancing wheel is provided on the connecting structure of the two sets of diameter changing mechanisms at both ends. The helix angle between the rolling axis of the advancing wheel on the two sets of diameter changing mechanisms and the axis of the first ring frame is the same in magnitude but opposite in direction. The connecting structure for setting the advancing wheel is a wheel frame, which includes a middle section and a first deflection section and a second deflection section respectively disposed at both ends of the middle section. The second ends of the first arc-shaped frame and the second arc-shaped frame in the same diameter-changing bracket are both hinged to the middle section. The first deflection section and the second deflection section are respectively deflected relative to the middle section toward both sides of the middle section. The advancing wheel is rotatably mounted on both the first deflection section and the second deflection section. The wheel frames on the two sets of diameter-changing mechanisms are arranged in opposite directions.

2. The pipeline inspection robot according to claim 1, characterized in that, Two sets of the diameter-changing mechanism are coaxially arranged. The axial connecting member is a closed cylindrical member. The outer periphery of the detection mechanism is also provided with a directional wheel. The rolling axis of the directional wheel is perpendicular to the axis of the first ring frame.

3. The pipeline inspection robot according to claim 1 or 2, characterized in that, In the diameter-changing mechanism with the precession wheel installed, the first annular frame is a first internal gear ring, the second annular frame is a second internal gear ring, and the diameter-changing drive includes: a planetary gear mechanism, which is disposed inside the first internal gear ring, including a first motor, a planetary carrier, a sun gear installed at the center of the planetary carrier, and a plurality of planetary gears installed on the outer periphery of the planetary carrier. Any one of the planetary gears meshes with the sun gear and the first internal gear ring at the same time. The first motor is connected to the sun gear and is used to drive the first internal gear ring to rotate. An eccentric gear mechanism is disposed inside the second internal gear ring. It includes a second motor, a gear carrier, and a plurality of eccentric gears mounted on the outer periphery of the gear carrier. Any one of the eccentric gears meshes with the second internal gear ring. At least one of the eccentric gears is connected to the second motor, which is used to drive the second internal gear ring to rotate. When the eccentric gear mechanism and the planetary gear mechanism drive the second internal gear ring and the first internal gear ring to rotate in the same direction and at the same speed, the eccentric gear mechanism and the planetary gear mechanism together also serve as the feed drive.

4. The pipeline inspection robot according to claim 3, characterized in that, In the variable diameter mechanism with the detection mechanism installed, the first ring frame is a third internal gear ring, the second ring frame is a fixed ring frame, and the variable diameter drive is one of the eccentric gear mechanism and the planetary gear mechanism to drive the third internal gear ring to rotate relative to the fixed ring frame.

5. The pipeline inspection robot according to claim 3, characterized in that, It also includes end caps, which are provided at the outer ends of the diameter-changing mechanisms located at both ends of the axial direction of the pipeline inspection robot.

6. The pipeline inspection robot according to claim 5, characterized in that, The end cap is also provided with mounting holes.

7. The pipeline inspection robot according to claim 1 or 2, characterized in that, Multiple sets of the variable diameter supports are evenly distributed around the outer periphery of any one of the variable diameter mechanisms.

8. The pipeline inspection robot according to claim 1 or 2, characterized in that, The detection mechanism includes a detection probe.

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