A large-scale underwater operation robot for water conservancy pipeline inspection

Abstract

The present invention relates to the field of pipeline inspection technology, specifically a large-scale underwater operation robot for water conservancy pipeline inspection, comprising a shell, a rear end of the shell being rotatably connected to a plurality of jet tails, a front rod fixedly mounted within the shell, a plurality of rotating wheels rotatably connected to the front rod, a head body and a tail body respectively located at the head and tail sides of all the rotating wheels, and a first bearing sleeved on the front rod being fixedly mounted on the inner walls of the tail body and all the rotating wheels, and a first rotating motor driving the tail body to rotate around the front rod. The first rotating motor rotates to drive the flexible wheel to contract, generating an axial force that causes the tail body to drive the connecting block to move, driving the jet tail to contract, thereby propelling the water conservancy pipeline inspection underwater operation robot forward. Compared with existing pipeline inspection robots, this device, inspired by the movement of squids in water, propels the large-scale underwater operation robot for water conservancy pipeline inspection to move in water-filled pipelines, thus solving the problem of needing to shut down water supply during water conservancy pipeline inspection.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline detection, and in particular to an underwater operation robot for large-scale water conservancy pipeline detection. Background Art

[0002] At present, during the implementation of large-scale water conservancy pipeline inspection work, the only way to carry out inspections is to stop the water supply in the pipeline and use manual methods. The work efficiency is very low, and the economic losses are too great, resulting in a low frequency of related inspection work, making it difficult for management and operation departments to grasp the safety status of the pipeline.

[0003] The current state of development of hydraulic pipeline robots meets modern technological demands for miniaturization, lightweighting, and intelligentization, compared to traditional underwater robots, which suffer from low safety, poor environmental adaptability, low reliability, high noise, complex structure, and low propulsion efficiency. However, current underwater pulse-jet robots still suffer from low propulsion force, slow response speed, and limited use at low speeds. The need exists to design pulse-jet structures with better biomimetic performance. Research into new drive methods and structural optimization is also a key focus of squid-like underwater robot research and exploration. Choosing the right water storage structure and steering mechanism to maximize the robot's flexibility, speed, and overall performance remains a pressing issue. Summary of the Invention

[0004] The control wheel that is located at the top of described supporting tractor and the control wheel that is located at the bottom of described supporting tractor are positioned at the top of described supporting tractor and the control wheel that is located at the bottom of described supporting tractor.

[0005] Preferably, a plurality of card bodies are fixedly installed at the tail of the shell, and card slots are respectively provided on the opposite sides of the inner wall of the card body. A card block is fixedly installed at one end of the jet tail close to the shell, and the opposite side walls of the card block are respectively fixedly installed with shaft protrusions matching the card slots, and the card block is stuck in the card body.

[0006] Preferably, the connecting block is sleeved on the front rod, and the connecting block is rotatably connected to the tail body through a plane bearing.

[0007] Preferably, it also includes a linear module fixedly installed in the shell, the first rotary motor is fixedly installed at the driving end of the linear module, the moving direction of the driving end of the linear module is parallel to the length direction of the front rod, and the linear module drives the first rotary motor to move synchronously with the tail body toward the side close to the head body.

[0008] Preferably, a second bearing sleeved on the front rod is fixedly installed on the inner wall of the head body, the first rotating motor is fixedly installed in the shell and is transmission-connected to the head body, the first bearing is not installed on the inner wall of the tail body, and the steel ball is directly fixedly installed on the inner wall of the tail body.

[0009] Preferably, the cross section of the strip-shaped hole is an arc shape that matches the steel ball, and the steel ball is embedded in the inner wall of the first bearing.

[0010] Preferably, it also includes fins fixedly mounted on opposite sides of the shell, and the fins drive the large-scale water conservancy pipeline inspection underwater operation robot to rotate in the water.

[0011] Preferably, the fin includes two rows of fixed-position brackets arranged in a straight line and at equal distances, and a control swing rotation mechanism is rotatably connected between two adjacent brackets in the same row, and several of the control swing rotation mechanisms on the same side are coaxially transmitted, driving the rotation motor to be transmission-connected to the control swing rotation mechanism, and two positioning supports are fixedly installed in the shell, respectively located on the opposite sides of the two rows of control swing rotation mechanisms, and the positioning supports are sleeved with fin swing machines corresponding to the control swing rotation mechanisms one by one, and a slide groove is provided on the side of the fin swing machine close to the support frame, and the side of the control swing rotation mechanism away from the rotation axis is located in the slide groove, and several rectangular holes corresponding to the fin swing machines are provided on the shell, and the side of the fin swing machine away from the slide groove extends to the outside of the shell through the rectangular hole and is provided with a slot, and a fin-like ribbon is fixed in the slot of the fin swing machines in the same row.

[0012] Preferably, two through holes are respectively provided on opposite sides of the shell, and four second rotating motors are fixedly installed inside the shell. The driving ends of the second rotating motors are transmission-connected to steel rods, and the four steel rods pass through the four through holes one by one, and the steel rods are transmission-connected to wheels located outside the shell.

[0013] Preferably, a solid-liquid nano-friction generator is fixedly mounted on the bottom of the shell, a battery is fixedly mounted inside the shell, and the solid-liquid nano-friction generator is electrically connected to the battery.

[0014] The present invention has the following beneficial effects:

[0015] The detection equipment, shooting tools or repair equipment are mounted on the shell, and the first rotating motor rotates to drive the flexible wheel to contract, generating an axial force so that the tail body drives the connecting block to move, driving the jet tail to contract, thereby pushing the water conservancy pipeline inspection underwater operation robot forward. Compared with the existing pipeline inspection robot, this device is based on the movement of squids in water, which drives large-scale water conservancy pipeline inspection underwater operation robots to move in water pipes, solving the problem of water supply interruption during water conservancy pipeline maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure provided by the present invention.

[0017] Figure 2 It is a structural schematic diagram of the shell provided by the present invention.

[0018] Figure 3 It is a structural schematic diagram of the spray tail provided by the present invention.

[0019] Figure 4 It is a cross-sectional schematic diagram of the rotating wheel provided by the present invention.

[0020] Figure 5 It is a schematic diagram of the structure inside the shell provided by the present invention.

[0021] Figure 6 It is a structural schematic diagram of the fin provided by the present invention.

[0022] Figure 7 It is a structural schematic diagram of the support frame provided by the present invention.

[0023] Figure 8 It is a structural schematic diagram of the wheel provided by the present invention.

[0024] Attachment Figure 1-8 The structures represented by each number are listed as follows:

[0025] 1. Shell; 2. Fin; 3. Solid-liquid nano-friction generator; 4. Jet tail; 5. Wheel; 6. Positioning support; 7. Fin swing machine; 8. Control swing rotation mechanism; 9. Drive rotary motor; 10. Slide; 11. Head body; 12. Flexible wheel; 13. Rotating wheel; 14. Connecting rod; 15. Connecting block; 16. First rotating motor; 17. Block; 18. Card body; 19. Front rod; 20. Pin hole; 21. First bearing; 22. Steel ball; 23. Positioning hole; 24. Strip hole; 25. Generator circular hole; 26. Steel rod; 27. Through hole; 28. Rectangular hole; 29. ​​Support frame; 30. Second rotating motor; 31. Bracket; 32. Tail body. DETAILED DESCRIPTION

[0026] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0027] It should be noted that when a part or component is considered to be "connected to," "located on," or "assembled on" another part or component, it can be directly disposed on the other part or component or there may be a central part or component. The terms "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only.

[0028] In one embodiment, Figure 1-8 As shown, a large-scale water conservancy pipeline inspection underwater operation robot includes a shell 1, the tail of the shell 1 is rotatably connected to a plurality of jet tails 4, a front rod 19 is fixedly installed in the shell 1, and a plurality of rotating wheels 13 are rotatably connected to the front rod 19. The head body 11 and the tail body 32 are respectively located at the head and tail sides of all the rotating wheels 13, and the inner walls of the tail body 32 and all the rotating wheels 13 are fixedly installed with a first bearing 21 sleeved on the front rod 19. The first rotating motor 16 drives the tail body 32 to rotate around the front rod 19. Rotation, a number of flexible wheels 12 are fixedly installed between the head body 11 and the several rotating wheels 13 and the tail body 32, a number of strip holes 24 are opened on the outer wall of the front rod 19 along the length direction, and a number of steel balls 22 located in the strip holes 24 are fixedly installed in the first bearing 21. The position of the head body 11 is fixed, and a connecting block 15 is rotatably connected to the tail body 32. A number of connecting rods 14 are rotatably connected to the connecting block 15, and the other end of the connecting rod 14 is rotatably connected to a number of jet tails 4 in a one-to-one correspondence.

[0029] The rotating wheel 13 is provided with a plurality of pin holes 20 along the circumference, and the rotating wheel 13 is fixedly connected to the flexible wheel 12 by driving rivets or screws into the pin holes 20. A positioning hole 23 is provided at the axis of the rotating wheel 13, and the first bearing 21 is fixedly installed inside the positioning hole 23.

[0030] like Figure 1 —— Figure 3 As shown, a number of card bodies 18 are fixedly installed at the tail of the shell 1, and card slots are respectively opened on the two opposite sides of the inner wall of the card body 18. A card block 17 is fixedly installed at one end of the jet tail 4 close to the shell 1, and the two opposite side walls of the card block 17 are respectively fixedly installed with shaft protrusions matching the card slots. The card block 17 is inserted into the card body 18 to realize the rotational connection of the jet tail 4 around the card body 18.

[0031] The jet tails 4 are distributed in a circular array at the tail of the shell 1 .

[0032] like Figure 3 Figure 4As shown, in this embodiment, the connecting block 15 is sleeved on the front rod 19, and the connecting block 15 can slide along the length direction of the front rod 19. The connecting block 15 is rotatably connected to the tail body 32 through a plane bearing, that is, when the tail body 32 rotates, the connecting block 15 will not rotate with the tail body 32.

[0033] like Figure 3 —— Figure 5 As shown, in this embodiment, it also includes a linear module fixedly installed in the shell 1, and the first rotary motor 16 is fixedly installed at the driving end of the linear module, and the moving direction of the driving end of the linear module is parallel to the length direction of the front rod 19. When the first rotary motor 16 drives the tail body 32 to rotate around the front rod 19, the linear module drives the first rotary motor 16 to move synchronously with the tail body 32 to the side close to the head body 11, to prevent the tail body 32 from disengaging from the first rotary motor 16 during rotation. The specific transmission method can be that a gear is fixedly installed on the driving shaft of the first rotary motor 16, and a tooth groove is provided on the tail body 32 along the circumference, and the gear and the tail body 32 are connected by a chain drive so that the first rotary motor 16 drives the tail body 32 to rotate, or the gear directly engages with the tail body 32 for transmission.

[0034] In another embodiment, a second bearing sleeved on the front rod 19 is fixedly installed on the inner wall of the head body 11, and the first rotating motor 16 is fixedly installed in the shell 1 and is transmission-connected to the head body 11 to drive the head body 11 to rotate around the front rod 19. The first bearing 21 is not installed on the inner wall of the tail body 32, and the steel ball 22 is directly fixedly installed on the inner wall of the tail body 32, so that the tail body 32 can only slide along the length direction of the strip hole 24 but cannot rotate, so that the head body 11 can still twist the flexible wheel 12 when rotating to move the tail body 32 and the rotating wheel 13 toward the side close to the head body 11, thereby achieving the purpose of pulling the connecting block 15 to shrink several jet tails 4. It is worth noting that in this embodiment, the first rotary motor 16 is not located on the extension line of the front rod 19, so as to avoid the front rod 19 being unable to be fixed. The first rotary motor 16 should be connected to the circumferential side wall of the head body 11 to transmit the head body 11, rather than the driving shaft of the first rotary motor 16 rotating in coincidence with the axial center line of the head body 11. The transmission method can refer to the technical solution of the above-mentioned transmission connection between the first rotary motor 16 and the tail body 32.

[0035] The cross section of the strip-shaped hole 24 is an arc shape that matches the steel ball 22 . The steel ball 22 is embedded in the inner wall of the first bearing 21 .

[0036] like Figure 1、 Figure 5 —— Figure 7 As shown, in this embodiment, it also includes fins 2 fixedly installed on opposite sides of the shell 1, and the fins 2 drive the large-scale water conservancy pipeline inspection underwater operation robot to rotate in the water to facilitate the adjustment of the inspection equipment, shooting tools or repair equipment to the required angle.

[0037] like Figure 2 、 Figure 5 —— Figure 7 As shown, in this embodiment, a specific implementation form of the fin 2 is that the fin 2 includes a support frame 29 fixed in the shell 1, and a plurality of brackets 31 arranged in a straight line and equidistantly are fixedly installed on the opposite sides of the outer wall of the support frame 29. A control swing rotation mechanism 8 is rotatably connected between two adjacent brackets 31 in the same row. Several control swing rotation mechanisms 8 on the same side pass through the bracket 31 and are coaxially transmitted. There are two fixed driving rotation motors 9, and the two driving rotation motors 9 are respectively connected to the control swing rotation mechanisms 8 on both sides. Two respectively fixed mountings are installed in the shell 1. The positioning supports 6 are located on opposite sides of the two rows of control swinging and rotating mechanisms 8. The positioning supports 6 are rotatably sleeved with fin swinging machines 7 corresponding to the control swinging and rotating mechanisms 8. The side of the fin swinging machines 7 close to the support frame 29 is provided with a chute 10. The side of the control swinging and rotating mechanism 8 away from the rotation axis is located in the chute 10. The housing 1 is provided with a plurality of rectangular holes 28 corresponding to the fin swinging machines 7. The side of the fin swinging machines 7 away from the chute 10 extends to the outside of the housing 1 through the rectangular holes 28 and is provided with a slot. A fin-like ribbon is fixed in the slot of the same row of fin swinging machines 7. When the driving rotary motor 9 drives the control swinging and rotating mechanism 8 to rotate, the control swinging and rotating mechanism 8 drives the fin swinging machines 7 to move through the chute 10, causing the fin swinging machines 7 to swing back and forth in an arc with the positioning support 6 as the axis on the side away from the chute 10.

[0038] More specifically, the two fin-like ribbons are sinusoidal in shape, and the traveling wave amplitude, offset angle and wavelength of the two fin-like ribbons are equal, so as to avoid large lateral movement and rolling movement that affect the motion stability of the underwater working robot.

[0039] like Figure 1 、 Figure 2 and Figure 8As shown, in this embodiment, two through holes 27 are respectively provided on opposite sides of the shell 1, and four second rotary motors 30 are fixedly installed inside the shell 1. The driving end of the second rotary motor 30 is transmission-connected with a steel rod 26, and the four steel rods 26 pass through the four through holes 27 in a one-to-one correspondence. The steel rods 26 are transmission-connected with wheels 5 located outside the shell 1, so that the second rotary motor 30 drives the wheels 5 to drive the large-scale water conservancy pipeline inspection underwater operation robot to move in a horizontal or nearly horizontal pipeline.

[0040] The above-mentioned large-scale water conservancy pipeline inspection underwater operation robot can be further optimized and / or improved according to actual needs:

[0041] The flexible wheel 12 is made of heat-vulcanized silicone rubber, so that when the first rotating motor 16 rotates in the reverse direction, the flexible wheel 12 can restore its deformation and push the connecting block 15 to the initial position to expand the plurality of the jet tails 4, without causing the flexible wheel 12 to bend in a bellows shape due to insufficient supporting force.

[0042] The head of the shell 1 is arc-shaped, so that the large-scale water conservancy pipeline inspection underwater operation robot has less resistance when moving forward.

[0043] A solid-liquid nano-triboelectric generator 3 is fixedly mounted at the bottom of the housing 1, and a battery is fixedly mounted within the housing 1. The solid-liquid nano-triboelectric generator 3 is electrically connected to the battery, so that water flowing through the solid-liquid nano-triboelectric generator 3 charges the battery. The battery then assists in powering the second rotary motor 30, the drive rotary motor 9, the first rotary motor 16, and the inspection equipment, camera tools, or repair equipment. Specifically, a generator circular hole 25 is formed in the solid-liquid nano-triboelectric generator 3, and the solid-liquid nano-triboelectric generator 3 is fixedly connected to the housing 1 through the generator circular hole 25.

[0044] To sum up: the detection equipment, shooting tools or repair equipment are mounted on the shell 1, and the first rotating motor 16 is rotated to drive the flexible wheel 12 to contract, generating an axial force so that the tail body 32 drives the connecting block 15 to move, driving the jet tail 4 to contract, thereby pushing the water conservancy pipeline inspection underwater working robot forward. Compared with the existing pipeline inspection robot, this device is based on the movement of squid in water, and drives the large-scale water conservancy pipeline inspection underwater working robot to move in water pipes, solving the problem of water supply interruption during water conservancy pipeline maintenance.

[0045] The above are only preferred embodiments of the present invention and do not limit the present invention in any form. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A large-scale water conservancy pipeline inspection underwater operation robot, characterized by: The invention comprises a shell (1), wherein the tail of the shell (1) is rotatably connected to a plurality of jet tails (4), a front rod (19) is fixedly installed in the shell (1), and a plurality of rotating wheels (13) are rotatably connected to the front rod (19), a head body (11) and a tail body (32) are respectively located at the head and tail sides of all the rotating wheels (13), and the inner walls of the tail body (32) and all the rotating wheels (13) are fixedly installed with a first bearing (21) sleeved on the front rod (19), and a first rotating motor (16) drives the tail body (11) to rotate. The head body (32) rotates around the front rod (19), and a plurality of flexible wheels (12) are fixedly installed between the head body (11) and the plurality of rotating wheels (13) and the tail body (32). The outer wall of the front rod (19) is provided with a plurality of strip holes (24) along the length direction. A plurality of steel balls (22) located in the strip holes (24) are fixedly installed in the first bearing (21). The cross section of the strip holes (24) is an arc shape adapted to the steel balls (22). The steel balls (22) are embedded in the inner wall of the first bearing (21). The head body (11) is fixed in position, and a connecting block (15) is rotatably connected to the tail body (32). The connecting block (15) is sleeved on the front rod (19). The connecting block (15) is rotatably connected to the tail body (32) through a plane bearing, so that when the tail body (32) rotates, the connecting block (15) does not rotate with the tail body (32). The connecting block (15) is rotatably connected to a plurality of connecting rods (14), and the ends of the connecting rods (14) away from the connecting block (15) correspond one to one. The head body (11) is rotatably connected to the plurality of jet tails (4), the inner wall of the head body (11) is fixedly mounted with a second bearing sleeved on the front rod (19), the first rotary motor (16) is fixedly mounted in the housing (1) and is transmission-connected to the head body (11), and the head body (11) can twist the flexible wheel (12) when rotating, so that the tail body (32) and the rotating wheel (13) move toward the side close to the head body (11), and pull the connecting block (15) to shrink the plurality of jet tails (4).

2. The large-scale water conservancy pipeline inspection underwater operation robot according to claim 1, characterized in that: A plurality of card bodies (18) are fixedly mounted on the tail of the shell (1), and card slots are respectively provided on opposite sides of the inner wall of the card body (18). A card block (17) is fixedly mounted on one end of the jet tail (4) close to the shell (1), and shaft protrusions matching the card slots are respectively fixedly mounted on opposite side walls of the card block (17). The card block (17) is inserted into the card body (18), thereby realizing the rotational connection of the jet tail (4) around the card body (18).

3. The large-scale water conservancy pipeline inspection underwater operation robot according to claim 1, characterized in that: It also includes a linear module fixedly mounted in the housing (1), the first rotary motor (16) fixedly mounted on the driving end of the linear module, the moving direction of the driving end of the linear module is parallel to the length direction of the front rod (19), and the linear module drives the first rotary motor (16) to move synchronously with the tail body (32) toward the side close to the head body (11).

4. The large-scale water conservancy pipeline inspection underwater operation robot according to claim 1, characterized in that: The invention also includes fins (2) fixedly mounted on opposite sides of the housing (1), the fins (2) including two fixed rows of brackets (31) arranged in a straight line at equal distances, a control swing rotation mechanism (8) being rotatably connected between two adjacent brackets (31) in the same row, a plurality of the control swing rotation mechanisms (8) on the same side being coaxially connected in transmission, and a driving rotation motor (9) being also included, the two driving rotation motors (9) being fixed in position and respectively connected in transmission to the control swing rotation mechanisms (8) on both sides, and two positioning supports (31) being respectively located on opposite sides of the two rows of control swing rotation mechanisms (8) being fixedly mounted in the housing (1). 6), a fin swing machine (7) corresponding to the control swing rotation mechanism (8) is sleeved on the positioning support (6), a slide groove (10) is provided on the side of the fin swing machine (7) close to the support frame (29), and the side of the control swing rotation mechanism (8) away from the rotation axis is located in the slide groove (10), and a plurality of rectangular holes (28) corresponding to the fin swing machines (7) are provided on the shell (1), and the side of the fin swing machine (7) away from the slide groove (10) extends to the outside of the shell (1) through the rectangular hole (28) and is provided with a slot, and a fin-like ribbon is fixed in the slot of the same row of fin swing machines (7).

5. The large-scale water conservancy pipeline inspection underwater operation robot according to claim 1, characterized in that: Two through holes (27) are respectively provided on opposite sides of the housing (1), and four second rotary motors (30) are fixedly installed inside the housing (1). The driving ends of the second rotary motors (30) are transmission-connected to steel rods (26), and the four steel rods (26) pass through the four through holes (27) in a one-to-one correspondence. The steel rods (26) are transmission-connected to wheels (5) located outside the housing (1).

6. The large-scale water conservancy pipeline inspection underwater operation robot according to claim 1, characterized in that: A solid-liquid nano-friction generator (3) is fixedly mounted on the bottom of the housing (1), a battery is fixedly mounted inside the housing (1), and the solid-liquid nano-friction generator (3) is electrically connected to the battery.

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