In-pipe drive travel mechanism and in-pipe working device

Abstract

The present disclosure provides a pipeline driving walking mechanism and a pipeline operation device, and belongs to the technical field of machinery. The pipeline driving walking mechanism comprises a driving motor, a differential, two gearboxes and two driving wheel sets. The differential is in transmission connection with the two driving wheel sets, and transmits the power output by the driving motor to the two driving wheel sets. When the pipeline driving walking mechanism drives in a curved pipeline, the resistance received by the driving wheel set on the outer side is smaller than the resistance received by the driving wheel set on the inner side. The presence of the differential makes the rotation speed output by the driving wheel set on the inner side smaller than the rotation speed output to the driving wheel set on the outer side, so that the pipeline driving walking mechanism can smoothly turn.

Description

Technical Field

[0001] This disclosure relates to the field of mechanical technology, and in particular to a pipe-driven walking mechanism and a pipe-operating device. Background Technology

[0002] In recent years, with the increase in energy demand, the number of oil and gas pipeline construction projects has increased year by year, and the application scope of long-distance transportation pipelines has become wider and wider. The characteristics of long-distance transportation pipelines are that the pipelines pass through large areas, complex terrain, and harsh construction environments along the route.

[0003] Due to the significant topographical variations, pipelines in mountainous areas often involve numerous bends and twists during construction. Pipeline builders aim to utilize automated welding and inspection technologies in complex geological conditions, including mountainous areas and bends in plains, to ensure the overall reliability and safety of the pipeline system.

[0004] However, the pipe-driven traveling mechanism in the relevant technology can only travel in straight pipes and has difficulty passing through curved pipes smoothly. Summary of the Invention

[0005] This disclosure provides a pipeline driving and traveling mechanism and a pipeline working device, which can solve the technical problems existing in related technologies. The technical solutions of the pipeline driving and traveling mechanism and the pipeline working device are as follows:

[0006] In a first aspect, this disclosure provides an in-pipe driving and traveling mechanism, which includes a drive motor, a differential, two gearboxes and two drive wheel sets.

[0007] The drive motor is fixed to the differential housing of the differential. The differential has a first input shaft and two first output shafts. The drive motor is connected to the first input shaft, and the two first output shafts extend in opposite directions.

[0008] Each gearbox has a second input shaft and a second output shaft, the second input shaft being perpendicular to the second output shaft, and the second input shaft of each gearbox being drively connected to one of the first output shafts;

[0009] Each drive wheel assembly includes two drive wheels, and the two drive wheels are respectively fixedly connected to both ends of the same second output shaft. The two drive wheel assemblies are respectively used to abut against both sides of the pipe.

[0010] In one possible implementation, the first output shaft and the second input shaft are slidably connected along the axial direction and mutually restrained in the circumferential direction;

[0011] The pipeline driving mechanism also includes a telescopic driving mechanism, which is connected to the two gearboxes respectively and is used to drive the two gearboxes to move away from or closer to each other in order to adjust the distance between the two drive wheel sets.

[0012] In one possible implementation, the telescopic drive mechanism includes a sliding sleeve assembly and a dual-outlet cylinder;

[0013] Each of the two sliding sleeve assemblies includes an inner sleeve and an outer sleeve. The inner sleeves of the two sliding sleeve assemblies are fixedly connected to both sides of the differential housing, and the outer sleeves of the two sliding sleeve assemblies are fixedly connected to the two gearboxes and slidably connected to the inner sleeves of the two sliding sleeve assemblies.

[0014] The dual-outlet cylinder is fixed to the differential housing, and the two piston rods of the dual-outlet cylinder are respectively fixedly connected to the outer sleeves of the two sliding sleeve assemblies.

[0015] In one possible implementation, each of the sliding sleeve assemblies includes a plurality of inner sleeves, the plurality of inner sleeves including a first inner sleeve and two second inner sleeves;

[0016] The first inner sleeve ring is fitted onto the first output shaft;

[0017] The two second inner sleeves are symmetrically distributed about the first inner sleeve.

[0018] In one possible implementation, the outer casing has a first inner hole and two second inner holes;

[0019] The first inner hole ring is fitted around the second input shaft and is slidably connected to the first inner sleeve along the axial direction;

[0020] The two second inner holes are slidably connected to the two second inner sleeves, respectively.

[0021] In one possible implementation, there are two dual-outlet cylinders, and the piston rods of the two dual-outlet cylinders are located outside the two first inner sleeves.

[0022] In one possible implementation, the gearbox includes a gearbox body, a second input shaft, a second output shaft, an input bevel gear, and an output bevel gear;

[0023] The second input shaft is rotatably connected to the gearbox body, and the input end bevel gear is fixed on the second input shaft;

[0024] The second output shaft is rotatably connected to the gearbox body, and the output bevel gear is fixed on the second output shaft and meshes with the input bevel gear.

[0025] In one possible implementation, the outer diameter of one of the drive wheels in the drive wheel assembly gradually decreases in the direction away from the other drive wheel.

[0026] In one possible implementation, the in-pipe driving mechanism further includes a wireless module and a controller;

[0027] The wireless module is used to receive control signals sent by the remote control;

[0028] The controller is electrically connected to the wireless module, the drive motor, and the telescopic drive mechanism, respectively. The controller is used to control the drive motor and the telescopic drive mechanism based on the control signals received by the wireless module.

[0029] Secondly, this disclosure provides a pipeline working device, which includes an actuator and a pipeline driving mechanism, wherein the actuator is a tensioning mechanism, a welding mechanism, or a fault detection mechanism.

[0030] The technical solution provided in this disclosure includes at least the following beneficial effects:

[0031] This disclosure provides a pipe-in-traverse drive mechanism, which includes a drive motor, a differential, two gearboxes, and two drive wheel sets. When the pipe-in-traverse drive mechanism travels within a bend, the resistance experienced by the outer drive wheel set is less than that experienced by the inner drive wheel set. This results in different forces on the two first output shafts of the differential, causing the rotational speed output by the first output shaft towards the inner drive wheel set to be less than the rotational speed output towards the outer drive wheel set, thus enabling the pipe-in-traverse drive mechanism to turn smoothly.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure. In the drawings:

[0034] Figure 1 This is a schematic diagram of a pipe-driven traveling mechanism shown in an embodiment of this disclosure;

[0035] Figure 2 This is a schematic diagram of a pipe-driven traveling mechanism shown in an embodiment of this disclosure;

[0036] Figure 3 This is a partial schematic diagram of a pipe-driven traveling mechanism according to an embodiment of this disclosure;

[0037] Figure 4 This is a cross-sectional view of a pipe-driven traveling mechanism shown in an embodiment of this disclosure;

[0038] Figure 5 This is an exploded view of a pipe-driven traveling mechanism shown in an embodiment of this disclosure;

[0039] Figure 6 This is a schematic diagram of an outer casing shown in an embodiment of this disclosure;

[0040] Figure 7 This is a schematic diagram of a second output shaft shown in an embodiment of this disclosure;

[0041] Figure 8 This is a front view of a pipe-driven traveling mechanism shown in an embodiment of this disclosure;

[0042] Figure 9 This is a schematic diagram of the electrical connections of a pipe-driven walking mechanism as shown in an embodiment of this disclosure.

[0043] Legend:

[0044] 1. Drive motor;

[0045] 2. Differential; 21. First input shaft; 22. First output shaft; 23. Differential housing; 24. First bearing sleeve; 25. First bearing; 251. First retaining ring.

[0046] 3. Gearbox; 31. Second input shaft; 32. Second output shaft; 33. Input end bevel gear; 331. Third snap ring; 34. Output end bevel gear; 341. Fourth snap ring; 35. Second bearing sleeve; 36. Second bearing; 361. Second snap ring.

[0047] 4. Drive wheel assembly; 41. Drive wheel;

[0048] 5. Telescopic drive mechanism; 51. Sliding sleeve assembly; 511. Inner sleeve; 511a. First inner sleeve; 511b. Second inner sleeve; 5111. Flat key; 512. Outer sleeve; 512a. First outer sleeve; 512b. Second outer sleeve; 5121. Keyway; 52. Double-outlet cylinder; 521. Piston rod.

[0049] 6. Wireless module;

[0050] 7. Controller;

[0051] 8. Power supply;

[0052] 9. Remote control.

[0053] The accompanying drawings have illustrated specific embodiments of this disclosure, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this disclosure to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be further described in detail below with reference to the accompanying drawings.

[0055] The terminology used in the embodiments of this disclosure is for illustrative purposes only and is not intended to limit the disclosure. Unless otherwise defined, the technical or scientific terms used herein should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms “first,” “second,” “third,” and similar terms used in this patent application specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, the terms “a” or “one,” and similar terms do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms “comprising,” “including,” and similar terms mean that the elements or objects preceding “comprising” or “including” encompass the elements or objects listed following “comprising” or “including” and their equivalents, and do not exclude other elements or objects. The terms “connected,” “linked,” and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms “upper,” “lower,” “left,” “right,” etc., are used only to indicate relative positional relationships, and these relative positional relationships may change accordingly when the absolute position of the described object changes.

[0056] This disclosure provides an embodiment of a pipe-driven traveling mechanism, such as... Figure 1 and Figure 2 As shown, the driving mechanism inside the pipeline includes a drive motor 1, a differential 2, two gearboxes 3, and two drive wheel sets 4. The drive motor 1 is fixed to the differential housing 23 of the differential 2. The differential 2 has a first input shaft 21 and two first output shafts 22. The drive motor 1 is driven by the first input shaft 21, and the two first output shafts 22 extend in opposite directions. Each gearbox 3 has a second input shaft 31 and a second output shaft 32, with the second input shaft 31 perpendicular to the second output shaft 32. The second input shaft 31 of each gearbox 3 is driven by one of the first output shafts 22. Each drive wheel set 4 includes two drive wheels 41, and the two drive wheels 41 are respectively fixedly connected to both ends of the same second output shaft 32. The two drive wheel sets 4 are used to abut against both sides of the pipeline.

[0057] The technical solution provided in this embodiment of the present disclosure, by setting a differential 2, makes the resistance experienced by the outer drive wheel set 4 less than that experienced by the inner drive wheel set 4 when the drive walking mechanism inside the pipe travels in a bend. As a result, the forces on the two first output shafts 22 of the differential 2 are different, and the speed output by the first output shaft 22 to the inner drive wheel set 4 is less than the speed output to the outer drive wheel set 4, so that the drive walking mechanism inside the pipe can turn smoothly.

[0058] In some examples, such as Figure 3 As shown, the first output shaft 22 and the second input shaft 31 are slidably connected along the axial direction and mutually restrained in the circumferential direction.

[0059] By setting the first output shaft 22 and the second input shaft 31 to a sliding connection, the first output shaft 22 can still drive the second input shaft 31 to rotate when the distance between the two gearboxes 3 changes.

[0060] In this way, the distance between the two drive wheel sets 4 can be adjusted, enabling the pipe drive walking mechanism provided in this embodiment to be applied to pipes with various inner diameters.

[0061] Before the drive mechanism enters the pipe, the distance between the two drive wheel sets 4 can be kept to a minimum, so as to reduce the space occupied by the drive mechanism and facilitate the drive mechanism's entry into the pipe.

[0062] After the drive mechanism enters the pipe, the second input shaft 31 slides outward along the first output shaft 22 until each drive wheel 41 abuts against the inner wall of the pipe.

[0063] After the drive mechanism inside the pipe leaves the pipe, the second input shaft 31 slides inward along the first output shaft 22, causing the two drive wheel sets 4 to move closer to each other, thus making the space occupied in the X direction smaller when the drive mechanism inside the pipe is not working.

[0064] This disclosure does not limit the specific structure and sliding connection form of the first output shaft 22 and the second input shaft 31. In some examples, such as Figure 3 and Figure 4 As shown, one end of the first output shaft 22 is an internal spline end, and one end of the second input shaft 31 is a spline end. The internal spline end of the first output shaft 22 is looped around the spline end of the second input shaft 31, so that the first output shaft 22 and the second input shaft 31 can slide relative to each other in the axial direction while being mutually restricted in the circumferential direction.

[0065] Of course, in other examples, one end of the first output shaft 22 can also be a spline end, and one end of the second input shaft 31 can be an internal spline end, with the internal spline end of the second input shaft 31 looping around the spline end of the first output shaft 22.

[0066] In some examples, such as Figure 4 As shown, the first bearing 25 is ringed around the first output shaft 22, and the first bearing sleeve 24 is ringed around the first bearing 25. The first bearing sleeve 24 contacts the differential housing 23, providing good radial support for the first output shaft 22. A first retaining ring 251 is installed on the first output shaft 22, and the first retaining ring 251 contacts the end of the first bearing 25 away from the second input shaft 31 to prevent the first bearing 25 from axially moving.

[0067] In some examples, such as Figure 4 As shown, the second bearing 36 is ringed around the second input shaft 31, and the second bearing sleeve 35 is ringed around the second bearing 36. The second bearing sleeve 35 contacts the gearbox 3 and can provide good radial support for the second input shaft 31. A second snap ring 361 is installed on the second input shaft 31. The second snap ring 361 contacts the end of the second bearing 36 away from the first output shaft 22 to prevent the second bearing 36 from moving axially.

[0068] This disclosure does not limit the method of adjusting the distance between the two drive wheel sets 4. In some examples, such as Figure 5 As shown, the driving mechanism inside the pipeline also includes a telescopic driving mechanism 5, which is connected to two gearboxes 3 respectively, and is used to drive the two gearboxes 3 to move away from or closer to each other, so as to adjust the distance between the two drive wheel sets 4.

[0069] After the internal drive mechanism enters the pipe, the telescopic drive mechanism 5 drives the two gearboxes 3 to move away from each other, thereby causing the two drive wheel sets 4 to move away from each other until both drive wheel sets 4 are in contact with the inner wall of the pipe. After the internal drive mechanism exits the pipe, the telescopic drive mechanism 5 drives the two gearboxes 3 to move closer to each other, thereby causing the two drive wheel sets 4 to move closer to each other.

[0070] In some examples, such as Figure 5 As shown, the telescopic drive mechanism 5 includes a sliding sleeve assembly 51 and a dual-outlet cylinder 52. Each sliding sleeve assembly 51 includes an inner sleeve 511 and an outer sleeve 512. The inner sleeves 511 of the two sliding sleeve assemblies 51 are fixedly connected to both sides of the differential housing 23, and the outer sleeves 512 of the two sliding sleeve assemblies 51 are fixedly connected to the two gearboxes 3, and slidably connected to the inner sleeves 511 of the two sliding sleeve assemblies 51. The dual-outlet cylinder 52 is fixed to the differential housing 23, and the two piston rods 521 of the dual-outlet cylinder 52 are fixedly connected to the outer sleeves 512 of the two sliding sleeve assemblies 51, respectively.

[0071] After the drive mechanism enters the pipe, the two piston rods 521 of the double-outlet cylinder 52 extend, pushing the outer sleeve 512 to extend along the axial direction of the inner sleeve 511, thereby pushing the gearbox 3 to extend outward along the axial direction of the inner sleeve 511, so that the two gearboxes 3 move away from each other, and then the two drive wheel sets 4 move away from each other, until both drive wheel sets 4 are in contact with the inner wall of the pipe.

[0072] After the drive mechanism inside the pipe drives out of the pipe, the two piston rods 521 of the double-outlet cylinder 52 retract, pulling the outer sleeve 512 to retract along the axial direction of the inner sleeve 511, thereby pulling the gearbox 3 to retract along the axial direction of the inner sleeve 511, so that the two gearboxes 3 move closer to each other, and then the two drive wheel sets 4 move closer to each other, until the piston rods 521 retract to the shortest limit position.

[0073] In some examples, such as Figure 5 As shown, each sliding sleeve assembly 51 includes multiple inner sleeves 511, the multiple inner sleeves 511 include a first inner sleeve 511a and two second inner sleeves 511b. The first inner sleeve 511a surrounds the first output shaft 22 and there is a gap between it and the first output shaft 22. The two second inner sleeves 511b are symmetrically distributed about the first inner sleeve 511a.

[0074] Correspondingly, such as Figure 5 and Figure 6 As shown, the outer sleeve 512 has a first inner hole 512a and two second inner holes 512b. The first inner hole 512a is fitted around the second input shaft 31 and is slidably connected to the first inner sleeve 511a along the axial direction. The two second inner holes 512b are slidably connected to the two second inner sleeves 511b respectively.

[0075] The first inner sleeve 511a rings the first output shaft 22, and the first inner hole 512a rings the second input shaft 31. This allows the first output shaft 22 and the second input shaft 31 to be in a sealed environment. No matter how the first inner sleeve 511a and the first inner hole 512a slide, the connection between the first output shaft 22 and the second input shaft 31 is always in a sealed environment. This prevents impurities from entering the connection between the first output shaft 22 and the second input shaft 31, maintains good lubrication at the connection, and protects the first output shaft 22 and the second input shaft 31 from damage.

[0076] The two second inner sleeves 511b are symmetrically distributed about the first inner sleeve 511a, and the two second inner holes 512b are symmetrically distributed about the first inner hole 512a, which makes the force on the outer sleeve 512 more uniform when it slides, and makes the sliding of the outer sleeve 512 smoother.

[0077] The embodiments disclosed herein do not limit the sliding connection between the first inner hole 512a and the first inner sleeve 511a. In some examples, two flat keys 5111 are symmetrically arranged on the surface of the first inner sleeve 511a, and two keyways 5121 are provided in the corresponding positions of the first inner hole 512a, so that the first inner hole 512a can slide along the axial direction of the first inner sleeve 511a while also achieving circumferential positioning.

[0078] Of course, in other examples, the surface of the first inner sleeve 511a can also be a spline structure, and the first inner hole 512a can be a corresponding internal spline structure.

[0079] In some examples, such as Figure 1 and Figure 5 As shown, there are two dual-outlet cylinders 52, and the piston rods 521 of the two dual-outlet cylinders 52 are located outside the two first inner sleeves 511a.

[0080] like Figure 5 As shown, two dual-outlet cylinders 52 are fixed on both sides of the differential housing 23 along the Y direction, and the piston rods 521 of the dual-outlet cylinders 52 are fixedly connected to the outer sleeve 512 of the sliding sleeve assembly 51.

[0081] Setting two double-outlet cylinders 52 can make the outer sleeve 512 more evenly stressed in the X direction. If the double-outlet cylinder 52 is only set on one side of the differential housing 23, when the piston rod 521 extends or retracts, the end of the outer sleeve 512 connected to the piston rod 521 will be stressed more in the X direction, while the other end will be stressed less. This makes it easy for the outer sleeve 512 and the inner sleeve 511 to get stuck when the outer sleeve 512 extends or retracts.

[0082] Of course, in other examples, a dual-outlet cylinder 52 can also be replaced by two single-outlet cylinders, with the two single-outlet cylinders arranged opposite each other in the X direction, and the piston rod of each single-outlet cylinder fixedly connected to the outer sleeve 512.

[0083] In some examples, such as Figure 3 As shown, the gearbox 3 includes a gearbox body 30, a second input shaft 31, a second output shaft 32, an input bevel gear 33, and an output bevel gear 34. The second input shaft 31 is rotatably connected to the gearbox body 30, and the input bevel gear 33 is fixed to the second input shaft 31. The second output shaft 32 is rotatably connected to the gearbox body 30, and the output bevel gear 34 is fixed to the second output shaft 32 and meshes with the input bevel gear 33.

[0084] The input bevel gear 33 and the output bevel gear 34 mesh with each other, allowing power from the second input shaft 31 to be transmitted to the second output shaft 32. Both the input bevel gear 33 and the output bevel gear 34 are located within a sealed gearbox 30, preventing external impurities from entering the gearbox 30. This ensures good lubrication at the meshing points of the input bevel gear 33 and the output bevel gear 34, preventing damage to their performance and shortening their service life.

[0085] In some examples, such as Figure 4 and Figure 7 As shown, to achieve axial limiting of the input bevel gear 33, a third retaining ring 331 is provided on the second input shaft 31. The third retaining ring 331 contacts the small end of the input bevel gear 33 to prevent the input bevel gear 33 from moving axially. Correspondingly, to achieve axial limiting of the output bevel gear 34, a fourth retaining ring 341 is provided on the second output shaft 32. The fourth retaining ring 341 contacts the small end of the output bevel gear 34 to prevent the output bevel gear 34 from moving axially.

[0086] In some examples, such as Figure 8 As shown, the outer diameter of one of the drive wheels 41 in the drive wheel assembly 4 gradually decreases in the direction away from the other drive wheel 41, that is, the drive wheel 41 is generally conical.

[0087] In this way, the contact area between the drive wheel 41 and the inner wall of the pipe is increased, thereby improving the driving stability of the drive mechanism inside the pipe.

[0088] In some examples, such as Figure 9 As shown, the driving mechanism inside the pipeline also includes a wireless module 6 and a controller 7. The wireless module 6 is used to receive signals sent by the remote controller 9. The controller 7 is electrically connected to the wireless module 6, the drive motor 1, and the telescopic drive mechanism 5, respectively. The controller 7 is used to control the drive motor 1 and the telescopic drive mechanism 5 based on the control signals received by the wireless module 6.

[0089] When the telescopic drive mechanism 5 includes a double-outlet cylinder 52, the controller 7 is electrically connected to the double-outlet cylinder 52.

[0090] After the drive mechanism enters the pipe, the wireless module 6 receives the signal from the remote controller 9 and then transmits the signal to the controller 7. The controller 7 controls the start, stop, forward and reverse rotation of the drive motor 1, thereby controlling the forward, backward and stop movement of the drive mechanism within the pipe. The controller 7 can also control the extension and retraction of the piston rod 521 of the dual-outlet cylinder 52, thereby adjusting the distance between the two drive wheel sets 4.

[0091] In addition, such as Figure 9As shown, the driving mechanism inside the pipeline also includes a power supply 8, which is electrically connected to the drive motor 1, the wireless module 6, the controller 7 and the dual-outlet cylinder 52 to supply power to them.

[0092] This disclosure also provides a pipeline working device, which includes an actuator and a pipeline driving mechanism, wherein the actuator is a tensioning mechanism, a welding mechanism, or a fault detection mechanism.

[0093] The tensioning mechanism is used to tighten and align two pipes that need to be aligned; a pipe-working device including the tensioning mechanism can be called a pipe-aligning device. The welding mechanism is used to perform welding; a pipe-working device including the welding mechanism can be called a pipe-welding device. The fault detection mechanism is used to perform fault detection; a pipe-working device including the fault detection mechanism can be called a pipe-fault detection device.

[0094] When the working device travels in a straight pipe, the force on the two drive wheel sets 4 is even, and the rotational speed of each drive wheel 41 in the two drive wheel sets 4 is the same, keeping the working device in a straight line. When the working device travels in a curved pipe, the resistance experienced by the inner drive wheel set 4 is greater than that experienced by the outer drive wheel set 4, and the rotational speed of the inner drive wheel set 4 is less than that of the outer drive wheel set 4, allowing the working device to pass through the curved pipe smoothly.

[0095] The working process of the pipeline working device (or pipeline driving mechanism) provided in the embodiments of this disclosure will be described by way of example below:

[0096] After the pipeline working device enters the pipeline, the user sends a signal to the wireless module 6 via the remote control 9, indicating that the two drive wheel sets 4 are moving away from each other. The wireless module 6 transmits this signal to the controller 7, which controls the piston rod 521 of the double-outlet cylinder 52 to extend outward, causing the two gearboxes 3 to move away from each other until both drive wheel sets 4 are in contact with the inner wall of the pipeline. Then, the user sends a signal to the wireless module 6 via the remote control 9, indicating that the pipeline working device is moving forward. The wireless module 6 transmits this signal to the controller 7, which controls the drive motor 1 to rotate forward. The power from the first input shaft 21 is then transmitted sequentially through the first output shaft 22, the second input shaft 31, the input bevel gear 33, and the output bevel gear 34 to the second output shaft 32, driving the drive wheel sets 4 to rotate, thus enabling the pipeline driving mechanism to propel the pipeline working device forward.

[0097] When the pipeline is straight, the two first input shafts 21 of the differential 2 output the same speed to the two drive wheel sets 4, thus keeping the working device inside the pipeline moving straight. When the pipeline is curved, the two first input shafts 21 of the differential 2 output the different speeds to the two drive wheel sets 4, and the speed of the inner drive wheel set 4 is less than that of the outer drive wheel set 4, thus allowing the working device inside the pipeline to pass smoothly through the curve.

[0098] After the pipeline working device reaches its working position in the pipeline, the user sends a signal to the wireless module 6 via remote control 9 to brake the pipeline working device. The wireless module 6 transmits this signal to the controller 7, which then controls the drive motor 1 to stop rotating, preventing the pipeline working device from moving forward. After the actuator of the pipeline working device completes tasks such as alignment, welding, or fault detection, if the pipeline working device needs to continue moving forward, the user sends a signal to the wireless module 6 via remote control 9 to move the pipeline working device forward, causing the pipeline drive mechanism to propel the pipeline working device forward until the next working position. If the pipeline working device needs to exit the pipeline, the user sends a signal to the wireless module 6 via remote control 9 to move the pipeline working device backward. The controller 7 then controls the drive motor 1 to reverse, causing the pipeline working device to reverse and exit the pipeline.

[0099] After the pipeline working device exits the pipeline, the user sends a signal to the wireless module 6 via the remote control 9 to brake the pipeline working device, causing it to stop moving. Subsequently, the user sends a signal via the remote control 9 to the wireless module 6 to bring the two drive wheel sets 4 closer together. The wireless module 6 transmits this signal to the controller 7, which controls the piston rod 521 of the dual-outlet cylinder 52 to retract, thereby bringing the two drive wheel sets 4 closer together.

[0100] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A pipe-driven traveling mechanism, characterized in that, The pipeline driving mechanism includes a drive motor (1), a differential (2), two gearboxes (3), two drive wheel sets (4), and a telescopic drive mechanism (5). The drive motor (1) is fixed to the differential housing (23) of the differential (2). The differential (2) has a first input shaft (21) and two first output shafts (22). The drive motor (1) is connected to the first input shaft (21) in a transmission manner. The two first output shafts (22) extend in opposite directions. Each gearbox (3) has a second input shaft (31) and a second output shaft (32), the second input shaft (31) being perpendicular to the second output shaft (32), and the second input shaft (31) of each gearbox (3) being axially slidably connected to one of the first output shafts (22) and mutually limiting each other in the circumferential direction; Each of the drive wheel sets (4) includes two drive wheels (41), and the two drive wheels (41) are fixedly connected to the two ends of the same second output shaft (32). The two drive wheel sets (4) are respectively used to abut against the two sides of the pipe. The outer diameter of one of the drive wheels (41) in the drive wheel set (4) gradually decreases in the direction away from the other drive wheel (41). The telescopic drive mechanism (5) includes two sliding sleeve assemblies (51) and a double-outlet cylinder (52). Each sliding sleeve assembly (51) includes an inner sleeve (511) and an outer sleeve (512). The inner sleeves (511) of the two sliding sleeve assemblies (51) are fixedly connected to both sides of the differential housing (23). The outer sleeves (512) of the two sliding sleeve assemblies (51) are fixedly connected to the two gearboxes (3) and slidably connected to the inner sleeves (511) of the two sliding sleeve assemblies (51). The double-outlet cylinder (52) is fixed to the differential housing (23), and the two piston rods (521) of the double-outlet cylinder (52) are fixedly connected to the outer sleeves (512) of the two sliding sleeve assemblies (51).

2. The pipeline driving and traveling mechanism according to claim 1, characterized in that, Each of the said sliding sleeve assembly (51) includes a plurality of inner sleeves (511), the plurality of inner sleeves (511) including a first inner sleeve (511a) and two second inner sleeves (511b). The first inner sleeve (511a) is fitted around the first output shaft (22); The two second inner sleeves (511b) are symmetrically distributed about the first inner sleeve (511a).

3. The pipeline driving and traveling mechanism according to claim 2, characterized in that, The outer casing (512) has a first inner hole (512a) and two second inner holes (512b); The first inner hole (512a) is fitted around the second input shaft (31) and is slidably connected to the first inner sleeve (511a) along the axial direction; The two second inner holes (512b) are slidably connected to the two second inner sleeves (511b).

4. The pipeline driving and traveling mechanism according to claim 2 or 3, characterized in that, There are two dual-outlet cylinders (52), and the piston rods (521) of the two dual-outlet cylinders (52) are located outside the two first inner sleeves (511a).

5. The pipeline driving and traveling mechanism according to claim 2 or 3, characterized in that, The gearbox (3) includes a gearbox body (30), a second input shaft (31), a second output shaft (32), an input bevel gear (33), and an output bevel gear (34). The second input shaft (31) is rotatably connected to the gearbox body (30), and the input end bevel gear (33) is fixed on the second input shaft (31); The second output shaft (32) is rotatably connected to the gearbox body (30), and the output bevel gear (34) is fixed on the second output shaft (32) and meshes with the input bevel gear (33).

6. The pipeline driving and traveling mechanism according to claim 2 or 3, characterized in that, The pipeline driving mechanism also includes a wireless module (6) and a controller (7). The wireless module (6) is used to receive control signals sent by the remote controller; The controller (7) is electrically connected to the wireless module (6), the drive motor (1) and the telescopic drive mechanism (5) respectively. The controller (7) is used to control the drive motor (1) and the telescopic drive mechanism (5) based on the control signal received by the wireless module (6).

7. A device for working inside a pipeline, characterized in that, The pipeline working device includes an actuator and a pipeline driving and traveling mechanism as described in any one of claims 1-6, wherein the actuator is a tensioning mechanism, a welding mechanism, or a fault detection mechanism.

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