Primary-secondary type pipeline robot

Abstract

The invention discloses a child-mother type pipeline robot which comprises a first mother robot body and a second mother robot body and further comprises a cabin, the two ends of the cabin are in transmission connection with the first mother robot body and the second mother robot body respectively, and a child robot body is arranged in the cabin; the flexible lifting mechanism is arranged in the cabin body, the flexible lifting mechanism comprises a flexible rope and an extension spring, the two ends of the flexible rope are connected to the two sides of the cabin body respectively, one end of the extension spring is connected to the flexible rope, the other end of the extension spring is connected to the inner wall of the cabin body, and the flexible rope abuts against the bottom of the sub-robot body. According to the child-mother type pipeline robot, the requirement for the adaptive capacity of the pipe diameter of the robot can be lowered, the detection reliability of the robot is improved, the flexible lifting mechanism is adopted, the occupied space is small, the weight is light, the segmented structure is adopted, the rear section can be bent by a certain angle relative to the front section during turning, and therefore the pipe diameter of the robot can be adjusted. And the overall turning capability of the robot is ensured.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline detection robot production, and in particular to a mother-and-child type pipeline robot. Background Art

[0002] T-type pipe is a special pipe with a shape similar to "T". Different from simple branch pipe, T-type pipe consists of two parts: main pipe and branch pipe. With the gradual acceleration of pipeline construction in my country, T-type pipe has been widely used in actual production and life, and its structure is becoming more and more complex and diverse.

[0003] According to the invention patent application with publication number: CN111853423A and publication date of 2020-10-30, a pipeline branch detection system is disclosed, including a detection device, a walkable crawler, a branch cable device and a main cable device. The detection device is located at one end of the crawler and is used to detect the branch pipe. The branch cable device and the main cable device are both located at the other end of the crawler, and are both used to store cables. One end of the cable on the branch cable device is connected to the detection device, and one end of the cable on the main cable device is connected to the crawler; the crawler is used to push the cable on the branch cable device and drive the detection device to move. Its main technical effect is that it is mainly used for the detection of pipelines in various complex environments in water or silt, especially for the detection of small-caliber and dark-light pipelines without inspection wells. It can also be applied to ordinary pipelines, and has broad application prospects. At present, there is no suitable detection equipment in this field in China. The present invention fills the gap in this field in China.

[0004] The existing pipeline inspection robot usually completes the inspection of T-type pipelines in two times, that is, inspecting the main pipe and the branch pipe respectively. After the inspection of the main pipe is completed, the inspection robot retreats and enters the pipeline again to inspect the branch pipe. This inspection method is inefficient, costly, time-consuming and labor-intensive, and it is difficult to complete the inspection of a large T-type pipe network in a short time. At the same time, when the diameters of the main pipe and the branch pipe of the T-type pipe are quite different, the existing pipeline robot needs to be replaced with different models to meet the inspection of main pipes and branch pipes of different diameters. For this reason, a mother-and-child pipeline robot is proposed to solve the problem of low efficiency of pipeline inspection robots in the prior art in inspecting T-type pipelines. Summary of the invention

[0005] The purpose of the present invention is to provide a mother-and-child pipeline robot, aiming to solve the problem of low efficiency of pipeline inspection robots for T-shaped pipelines in the prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A mother-child pipeline robot comprises a first mother robot body and a second mother robot body, and further comprises:

[0008] A cabin, wherein both ends of the cabin are respectively connected to the first mother robot body and the second mother robot body, and a child robot body is arranged inside the cabin;

[0009] A flexible lifting mechanism is arranged inside the cabin, and includes a flexible rope and a tension spring. The two ends of the flexible rope are respectively connected to the two sides of the cabin, one end of the tension spring is connected to the flexible rope, and the other end is connected to the inner wall of the cabin, and the flexible rope is in contact with the bottom of the sub-robot body.

[0010] Preferably, the flexible lifting mechanism also includes a winding mechanism, which is arranged inside the cabin, and the winding mechanism includes a support, a driving mechanism and a winch, the support is fixedly arranged inside the cabin, the winch is rotatably connected to the cabin, the driving mechanism is arranged on the support, and the driving mechanism is transmission-connected to the winch.

[0011] Preferably, the sub-robot body includes a fixed frame, a rotating rod, a camera, a first support arm assembly, a second support arm assembly and a track, the camera is arranged at the end of the fixed frame, the rotating rod is rotatably connected to the inside of the fixed frame, the first support arm assembly and the second support arm assembly are both connected to the rotating rod, and the track is respectively connected to the first support arm assembly and the second support arm assembly.

[0012] Preferably, the first support arm assembly includes a first movable block, a second movable block, a spring telescopic rod, a rotating motor and a connecting arm, the first movable block is rotatably connected to the rotating rod, and the first movable block is fixedly connected to a fixed frame, the rotating motor is fixedly installed on the first movable block, the rotating rod is fixedly installed on the output end of the rotating motor, the second movable block is threadedly connected to the rotating rod, one end of the spring telescopic rod is rotatably connected to the first movable block, and the other end is rotatably connected to the crawler, one end of the connecting arm is rotatably connected to the second movable block, and the other end is slidably connected to the spring telescopic rod, and the first movable block and the second movable block are both slidably connected to the fixed frame.

[0013] Preferably, the second support arm assembly includes a third movable block, a fourth movable block, a fixed rod and a movable arm, the third movable block is slidably connected to the rotating rod, the fourth movable block is threadedly connected to the rotating rod, one end of the fixed rod is rotatably connected to the third movable block, and the other end is rotatably connected to the track, one end of the movable arm is rotatably connected to the fixed rod, and the other end is rotatably connected to the fourth movable block, a compression spring is arranged between the third movable block and the fourth movable block, and the third movable block and the fourth movable block are both slidably connected to the fixed frame.

[0014] Preferably, a circumferential adjustment mechanism is arranged between the first mother robot body and the cabin, and the circumferential adjustment mechanism includes a first elastic membrane coupling, a first universal joint, a left flange and a disc motor, the disc motor is fixedly installed inside the support, the left flange is fixedly installed at the end of the cabin, the output end of the disc motor is arranged inside the left flange, the first elastic membrane coupling is connected to one end of the first mother robot body, one end of the first universal joint is connected to the first elastic membrane coupling, and the other end is connected to the output end of the disc motor.

[0015] Preferably, an axial adjustment assembly is arranged between the second mother robot body and the cabin, and the axial adjustment assembly includes a right flange, a second elastic membrane coupling, a second universal joint and an electric push cylinder. The electric push cylinder is fixedly installed on the second mother robot body, the right flange is connected to the cabin, one end of the second universal joint is connected to the right flange, and the other end is connected to the second elastic membrane coupling, and the second elastic membrane coupling is connected to the output end of the electric push cylinder.

[0016] Preferably, the driving mechanism includes a driving motor, a low-speed gear and a high-speed gear, the driving motor is fixedly mounted on a support, the low-speed gear is fixedly connected to an output end of the driving motor, the high-speed gear is rotatably connected to the support, the high-speed gear is connected to a capstan, and the high-speed gear is meshed with the low-speed gear.

[0017] As a preference, an electromagnet is provided inside the cabin.

[0018] In the above technical solution, the present invention provides a mother-child pipeline robot, which has the following beneficial effects:

[0019] The invention completes the inspection of the inner wall of the main pipe of the T-shaped pipe by moving the first mother robot body and the second mother robot body of the cabin connected to each other inside the pipe that needs to be inspected. When the branch pipe of the T-shaped pipe needs to be inspected, the first mother robot body and the second mother robot body are moved to the vicinity of the branch pipe, and the child robot body is lifted into the branch pipe for inspection by a flexible lifting mechanism arranged inside the cabin. Since the child robot body is lifted by a flexible rope, when there is a certain deviation between the child robot body and the axis of the branch pipe, the flexible rope can swing left and right to adapt to the child robot body. The robot body enters the branch pipe. At the same time, when the sub-robot body completes the detection task, it can play a certain shock-absorbing role because it is supported by flexible ropes and tension springs, reducing the shaking of the sub-robot body when it enters the cabin. Compared with traditional single-robot detection, it reduces the requirements for the robot's adaptability to pipe diameters and improves the reliability of robot detection. It adopts a flexible lifting mechanism, which occupies a small space and is light in weight. It adopts a segmented structure to divide the entire robot into three sections. When turning, the latter section can bend at a certain angle relative to the former section, ensuring the robot's overall turning ability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0021] Figure 1 A schematic diagram of a usage status structure provided by an embodiment of the present invention;

[0022] Figure 2 A schematic diagram of the overall structure provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of a cross-sectional structure of the interior of a cabin provided by an embodiment of the present invention;

[0024] Figure 4 A schematic diagram of the three-dimensional structure of a sub-robot body provided in an embodiment of the present invention;

[0025] Figure 5 A schematic three-dimensional cross-sectional view of the interior of a cabin provided by an embodiment of the present invention;

[0026] Figure 6 A schematic diagram of the specific structure of the sub-robot body provided in an embodiment of the present invention;

[0027] Figure 7 A schematic diagram of the sub-robot body moving to the branch pipe structure provided by an embodiment of the present invention;

[0028] Figure 8 A schematic diagram of a top view of a sub-robot body entering a branch pipe provided in an embodiment of the present invention;

[0029] Fig. 9 A schematic diagram of the internal structure of the return capsule of the sub-robot body provided in an embodiment of the present invention;

[0030] Fig.10 This is a schematic diagram of the structure of the axial adjustment mechanism provided in an embodiment of the present invention.

[0031] Description of reference numerals:

[0032] 1. The first mother robot body; 2. The second mother robot body; 3. The cabin; 4. The child robot body; 41. The fixed frame; 411. The first fixed plate; 412. The second fixed plate; 413. The support rod; 42. The rotating rod; 43. The camera; 44. The first support arm assembly; 441. The first movable block; 442. The second movable block; 443. The spring telescopic rod; 444. The rotating motor; 445. The connecting arm; 45. The second support arm assembly; 451. The third movable block; 452. The fourth movable block; 453. The fixed rod; 454. The movable arm; 46 , crawler; 5. flexible lifting mechanism; 51. flexible rope; 52. tension spring; 53. winding mechanism; 531. support; 532. driving mechanism; 533. capstan; 534. low-speed gear; 535. high-speed gear; 536. driving motor; 537. mounting plate; 6. circumferential adjustment mechanism; 61. first elastic film coupling; 62. first universal joint; 63. left flange; 64. disc motor; 7. axial adjustment assembly; 71. right flange; 72. second elastic film coupling; 73. second universal joint; 74. electric push cylinder; 8. electromagnet. DETAILED DESCRIPTION

[0033] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0034] See also Figure 1 —10. A mother-child pipeline robot, comprising a first mother robot body 1 and a second mother robot body 2, and further comprising:

[0035] A cabin 3, wherein both ends of the cabin 3 are respectively connected to the first mother robot body 1 and the second mother robot body 2, and a child robot body 4 is arranged inside the cabin 3;

[0036] A flexible lifting mechanism 5 is arranged inside the cabin 3. The flexible lifting mechanism 5 includes a flexible rope 51 and a tension spring 52. Both ends of the flexible rope 51 are respectively connected to both sides of the cabin 3. One end of the tension spring 52 is connected to the flexible rope 51, and the other end is connected to the inner wall of the cabin 3. The flexible rope 51 is in contact with the bottom of the sub-robot body 4.

[0037] Specifically, the first mother robot body 1 and the second mother robot body 2 can both adopt the pipeline detection robot structure in the prior art, and can meet the requirements of moving inside the pipeline and performing detection;

[0038] A cabin 3 is connected between the first mother robot body 1 and the second mother robot body 2. Specifically, the cabin 3 is a hollow structure, and a through hole is opened on the circumferential outer wall of the cabin 3. The sub-robot body 4 can move out of the through hole or move into the cabin 3. When the sub-robot body 4 moves out of the cabin 3, the branch pipe can be inspected by the sub-robot body 4. When the sub-robot body 4 returns to the cabin 3, the robot as a whole can move inside the pipe to complete the inspection of the main pipe.

[0039] A flexible lifting mechanism 5 is provided inside the cabin 3. Specifically, the flexible lifting mechanism 5 includes a flexible rope 51 and a tension spring 52. Both ends of the flexible rope 51 are connected to the interior of the cabin 3. One end of the tension spring 52 is connected to the inner wall of the cabin 3, and the other end is connected to the flexible rope 51. The tightness of the flexible rope 51 can be maintained to ensure the supporting strength of the flexible rope 51 on the robot body 4.

[0040] As an embodiment provided by the present invention, Figure 5 and Fig. 9 As shown, hooks are symmetrically arranged inside the cabin 3, one end of the tension spring 52 is connected to the inside of the cabin 3 through one of the hooks, and a connecting hook is connected to the other end of the tension spring 52, and the other end of the tension spring 52 is connected to the flexible rope 51 through the connecting hook, so that the flexible rope 51 can move freely inside the connecting hook.

[0041] The invention completes the inspection of the inner wall of the main pipe of the T-shaped pipe by moving the first mother robot body 1, the cabin 3, and the second mother robot body 2 connected to each other inside the pipe to be inspected. When the branch pipe of the T-shaped pipe needs to be inspected, the first mother robot body 1 and the second mother robot body 2 are moved to the vicinity of the branch pipe, and the child robot body 4 is lifted into the branch pipe for inspection by the flexible lifting mechanism 5 arranged inside the cabin 3. Since the child robot body 4 is lifted by the flexible rope 51, when there is a certain deviation between the child robot body 4 and the axis of the branch pipe, the flexible rope 51 can swing left and right to adapt to the situation. The sub-robot body 4 enters the branch pipe. At the same time, when the sub-robot body 4 completes the detection task, it can play a certain shock-absorbing role due to the support of the flexible rope 51 and the tension spring 52, reducing the shaking of the sub-robot body 4 when entering the cabin 3. Compared with the traditional single robot detection, the requirements for the robot's adaptability to the pipe diameter are reduced, and the reliability of the robot detection is improved. The flexible lifting mechanism 5 is adopted, which occupies a small space and is light in weight. The segmented structure is adopted to divide the entire robot into three sections. When turning, the latter section can bend at a certain angle relative to the former section, thereby ensuring the overall turning ability of the robot.

[0042] The flexible lifting mechanism 5 can reduce the weight of the entire sub-robot cabin. Since the cabin is pulled and moved by the two mother robots in front and behind, it does not have a power source when the main robot moves. Therefore, when the robot turns or moves in the vertical direction, the burden of the entire robot can be reduced. At the same time, reducing the weight of the cabin 3 can further reduce the inertia force of the entire robot. When the entire robot changes from one motion state to another, it can ensure a fast and smooth transition of the system.

[0043] In the traditional scissor-type lifting mechanism, the part that realizes lifting and lowering needs at least two sets of guide rail slider mechanisms, one set of ball screw mechanisms, several scissor rods and a lifting platform in terms of structure, and the lifting height is closely related to the length of the ball screw. If the lifting height is to be increased, the length of the ball screw must be increased, and the length of the slider guide rail must also be increased accordingly. In the flexible lifting mechanism 5, lifting and lowering are only achieved through two sets of winches 533 and the flexible rope 51 wound on them. When the maximum lifting height needs to be increased, it is only necessary to lengthen the length of the flexible rope 51 wound on the winch 533, and the space occupancy rate of the flexible lifting mechanism 5 will not be increased. When the sub-robot body 4 is lifted to enter the branch pipe for inspection, the lifting height is at least 1.2 to 1.5 times the height of the sub-robot body 4. Compared with the traditional lifting structure, a larger range of lifting and lowering can be achieved without changing the volume of the cabin 3. The use of the traditional lifting mechanism will result in a larger volume of the cabin 3, affecting the robot's bending ability and pipe diameter adaptation range. Among them, the robot's overall bending ability depends on the robot's overall length, and the robot's minimum adaptable pipe diameter depends on the sub-robot cabin diameter;

[0044] When the sub-robot body 4 returns to the cabin 3, as the crawler 46 on the sub-robot body 4 gradually breaks away from the contact with the branch pipe wall, the resultant force on the sub-robot body 4 becomes larger and larger, and its acceleration and speed also increase accordingly. The use of the flexible rope 51 for support can absorb the kinetic energy of the sub-robot body 4 through slight deformation of itself, avoid direct rigid collision, and improve the stability and reliability of the sub-robot storage process.

[0045] As a further embodiment provided by the present invention, Fig. 9 As shown, the flexible lifting mechanism 5 also includes a winding mechanism 53, which specifically includes a support 531, a driving mechanism 532 and a winch 533. The support 531 is fixedly mounted on one end of the cabin 3, the winch 533 is movably connected to the interior of the cabin 3 through a hook, one end of the flexible rope 51 is fixedly connected to the winch 533, the driving mechanism 532 is arranged on the support 531, and the driving mechanism 532 maintains a transmission connection with the winch 533. The winch 533 can be driven to rotate through the driving mechanism 532, and one end of the flexible rope 51 can be wound up while the winch 533 rotates.

[0046] As an embodiment provided by the present invention, Figure 5 and Fig. 9 As shown, there are two supports 531 and two winding mechanisms 53, which are symmetrically distributed inside the cabin 3, and can simultaneously wind or unwind both ends of the flexible rope 51 to ensure that the sub-robot body 4 located on the flexible rope 51 can enter the cabin 3 relatively vertically.

[0047] As a further embodiment provided by the present invention, specifically, the sub-robot body 4 includes a fixing frame 41, a rotating rod 42, a camera 43, a first support arm assembly 44, a second support arm assembly 45, a rotating motor 444 and a crawler 46, such as Figure 6As shown, the fixing frame 41 specifically includes a first fixing plate 411, a second fixing plate 412 and support rods 413. The number of support rods 413 is several, and the two ends of the several support rods 413 are respectively connected to the first fixing plate 411 and the second fixing plate 412. The several support rods 413 are distributed in a circular array between the first fixing plate 411 and the second fixing plate 412. As an embodiment provided by the present invention, the number of support rods 413 is three. The rotating rod 42 is rotatably connected to the first fixed plate 411, and one end of the rotating rod 42 penetrates and extends to the outside of the second fixed plate 412. The rotating motor 444 is fixedly installed on the inner wall of one side of the first fixed plate 411. The rotating rod 42 is fixedly connected to the output end of the rotating motor 444. The rotating motor 444 can drive the rotating rod 42 to keep rotating. The first support arm assembly 44 and the second support arm assembly 45 are both connected to the rotating rod 42, and the first support arm assembly 44 and the second support arm assembly 45 are both slidably connected to the support rod 413. The crawler 46 is connected to the first support arm assembly 44 and the second support arm assembly 45, and the crawler 46 and the fixed frame 41 are connected through the first support arm assembly 44 and the second support arm assembly 45. A spline groove is provided on the second fixed plate 412 for clamping the flexible rope 51.

[0048] As specific embodiments provided by the present invention, Figure 4 and Figure 6 As shown, the first movable block 441, the second movable block 442, the spring telescopic rod 443, the rotating motor 444 and the connecting arm 445, preferably, the first movable block 441 and the second movable block 442 are both triangular structures, wherein the first movable block 441 is movably connected to the rotating rod 42, and the first movable block 441 is fixedly connected to the support rod 413, the rotating motor 444 is fixedly installed on the outer wall of one side of the first movable block 441, and the output end of the rotating motor 444 is fixedly connected to the rotating rod 42, so that the rotating motor 444 can be used to rotate the rotating rod 42. 444 drives the rotating rod 42 to keep rotating, the second movable block 442 is threadedly connected to the rotating rod 42, and the second movable block 442 is slidably connected to the support rod 413. Therefore, when the rotating rod 42 is driven to rotate by the rotating motor 444, the second movable block 442 is driven to slide along the support rod 413. One end of the spring telescopic rod 443 is rotatably connected to the first movable block 441, and the other end is rotatably connected to the crawler 46. One end of the connecting arm 445 is rotatably connected to the second movable block 442, and the other end is slidably connected to the spring telescopic rod 443. Preferably, the number of the spring telescopic rod 443 and the connecting arm 445 are both three, and they are respectively distributed in a circular array on the first movable block 441 and the second movable block 442.

[0049] As an embodiment provided by the present invention, Figure 4 and Figure 6As shown, the second support arm assembly 45 includes a third movable block 451, a fourth movable block 452, a fixed rod 453 and a movable arm 454. The third movable block 451 is slidably connected to the rotating rod 42 and is slidably connected to the support rod 413. An angular contact ball bearing is provided on the fourth movable block 452, and a screw sleeve is provided on the angular contact ball bearing. The fourth movable block 452 is threadedly connected to the rotating rod 42 through the screw sleeve. A compression spring is provided between the third movable block 451 and the fourth movable block 452. The fixed rod 453 is provided with a screw sleeve. One end of the movable arm 454 is rotatably connected to the third movable block 451, and the other end is rotatably connected to the crawler 46. One end of the movable arm 454 is rotatably connected to the fourth movable block 452, and the other end is rotatably connected to the fixed rod 453. The crawler 46 is connected through the fixed rod 453 and the spring telescopic rod 443. The second movable block 442 and the fourth movable block 452 can be driven to keep moving by the rotating motor 444, so as to adjust multiple crawlers 46 to shrink or expand at the same time, so as to adjust the diameter of the adapted branch pipe within a certain range.

[0050] It should be pointed out that during use, the diameter of the circumscribed circle formed by the multiple tracks 46 must be larger than the diameter of the branch pipe. After entering the branch pipe, the multiple tracks 46 are retracted inwardly through the movement of the spring telescopic rod 443 and the movable third movable block 451. The spring telescopic rod 443 and the elastic force of the compression spring drive the tracks 46 to cling to the inner wall of the branch pipe, thereby completing the T-type pipe branch detection.

[0051] As a further embodiment provided by the present invention, a circumferential adjustment mechanism 6 is provided between the first mother robot body 1 and the cabin 3. Specifically, the circumferential adjustment mechanism 6 includes a first elastic film coupling 61, a first universal joint 62, a left flange 63 and a disc motor 64. Figure 5 As shown, the disc motor 64 is fixedly installed inside the support 531, the left flange 63 is fixedly installed on the outer wall of one side of the cabin 3, the output end of the disc motor 64 passes through and extends into the left flange 63, one end of the first universal joint 62 is connected to the output end of the disc motor 64, and the output end of the disc motor 64 is connected to one end of the first universal joint 62 through a coupling. Specifically, a thrust ball bearing and a self-aligning ball bearing are provided inside the left flange 63, the inner rings of the thrust ball bearing and the self-aligning ball bearing are connected to one end of the first universal joint 62, and the outer rings of the thrust ball bearing and the self-aligning ball bearing are connected to the left flange 63 to ensure that the first universal joint 62 can rotate inside the left flange 63, and the first mother robot body 1 is connected to the other end of the first universal joint 62 through the first elastic membrane coupling 61.

[0052] As a further embodiment provided by the present invention, Fig.10As shown, an axial adjustment component 7 is arranged between the second mother robot body 2 and the cabin 3. Specifically, the axial adjustment component 7 includes a right flange 71, a second elastic membrane coupling 72, a second universal joint 73 and an electric push cylinder 74. The right flange 71 is fixedly installed on one side of the cabin 3, and the electric push cylinder 74 is fixedly installed on the second mother robot body 2. One end of the second elastic membrane coupling 72 is connected to the electric push cylinder 74, and the other end of the second elastic membrane coupling 72 is connected to the second universal joint 73. The other end of the second universal joint 73 is connected to the right flange 71. By keeping the output end of the electric push cylinder 74 extended and retracted, the cabin 3 can be pushed to rotate with the second universal joint 73 as the axis, so that the first mother robot body 1 and the cabin 3 can be rotated, thereby improving the overall passability.

[0053] As a further embodiment provided by the present invention, Fig. 9 As shown, the winding mechanism 53 includes a driving motor 536, a low-speed gear 534 and a high-speed gear 535. A mounting groove is opened on the axial outer wall of the support 531, and mounting plates 537 are installed on both sides of the mounting groove. The driving motor 536 is fixedly installed on one of the mounting plates 537, and the output end of the driving motor 536 passes through and extends to the other mounting plate 537. The low-speed gear 534 is fixedly installed on the output end of the driving motor 536. The high-speed gear 535 is rotatably connected between the two mounting plates 537, and the capstan 533 is coaxial with the high-speed gear 535. The high-speed gear 535 is meshed with the low-speed gear 534. When the driving motor 536 drives the low-speed gear 534 to keep rotating, the high-speed gear 535 can be driven to rotate synchronously, thereby driving the capstan 533 to rotate, and the flexible rope 51 connected to the capstan 533 is unwound or reeled.

[0054] An electromagnet 8 is provided inside the cabin 3. By energizing the electromagnet 8, the bottom of the fixing frame 41 can be adsorbed, thereby fixing the sub-robot body 4 inside the cabin 3 to prevent the sub-robot body 4 from shaking when the robot moves.

[0055] Working principle:

[0056] The robot is driven to move as a whole inside the main pipe by the first mother robot body 1 and the second mother robot body 2. When the branch pipe needs to be inspected, the cabin body 3 is driven to move to the vicinity of the branch pipe to be inspected by the first mother robot body 1 and the second mother robot body 2.

[0057] It should be pointed out that at this time, there may be a misalignment between the cabin body 3 and the branch pipe. At this time, the cabin body 3 can be driven to rotate by the disc motor 64 of the circumferential adjustment mechanism 6. Since the two ends of the cabin body 3 are respectively connected to the first mother robot body 1 and the second mother robot body 2 through the first universal joint 62 and the second universal joint 73, the cabin body 3 can be driven to rotate by the disc motor 64 to adjust the direction of the through hole of the cabin body 3, by adjusting the through hole of the cabin body 3 to the direction close to the branch pipe opening and maintaining the vertical direction;

[0058] At this time, the electromagnet 8 is powered off, and the high-speed gear 535 is driven to rotate by the driving motor 536 inside the cabin 3. When the high-speed gear 535 rotates, the low-speed gear 534 is driven to rotate synchronously, thereby driving the winch 533 to rotate, and the flexible rope 51 is reeled in. The flexible rope 51 is reeled in synchronously by the driving mechanisms 532 on both sides to prevent the sub-robot body 4 from tipping over to both sides.

[0059] By winding up the flexible rope 51, the sub-robot body 4 is driven to lift upward. During the lifting process of the sub-robot body 4, the front end of the crawler 46 first contacts the inner wall of the branch pipe. Figure 8 As shown, since the center of the branch pipe is a virtual point, the sub-robot body 4 and the branch pipe cannot generally be strictly aligned. The front end of one of the tracks 46 on the sub-robot body 4 will first contact the branch pipe, while the tracks 46 on the other two sides will not contact the branch pipe or will have poor contact. At this time, the spring telescopic rod 443 on the side that first contacts the branch pipe will shrink and generate an elastic reaction force. At the same time, since the flexible lifting mechanism 5 used to support the sub-robot body 4 has a certain flexibility, the elastic force generated by the spring telescopic rod 443 will cause the posture of the sub-robot body 4 to be fine-tuned in three-dimensional space until the tracks 46 on the other two sides are in reliable contact with the branch pipe, and the forces on the three sides of the sub-robot body 4 are balanced. At this time, the center of the sub-robot body 4 strictly coincides with the center of the branch pipe, and the sub-robot body 4 enters the branch pipe from the main pipe. When the sub-robot body 4 enters the branch pipe from the main pipe, its compression spring expands and contracts to adapt to the diameter of the branch pipe, and the three-side crawlers 46 on the sub-robot body 4 are opened at the same time and the force conditions are the same, so that the peak force of the three groups of crawlers 46 of the sub-robot body 4 is minimized, and the center of the sub-robot body 4 is kept coincident with the center of the branch pipe during the detection process, and the branch pipe is detected through the camera 43 set at the end of the sub-robot body 4;

[0060] After the branch pipe inspection is completed, the track 46 of the sub-robot body 4 rotates in the opposite direction, and the sub-robot body 4 returns to the branch pipe mouth. The drive motor 536 in the flexible lifting mechanism 5 drives the winch 533 to rotate in advance, thereby stretching the flexible rope 51 wrapped around the winch 533, and the sub-robot body 4 continues to move backward until the spline groove on the second fixed plate 412 is stuck on the flexible rope 51. The drive motor 536 drives the winch 533 to unwind, and the sub-robot body 4 moves along the contraction direction of the tension spring 52. When the second fixed plate 412 of the sub-robot body 4 reaches the vicinity of the electromagnet 8 in the cabin 3, the sub-robot body 4 is adsorbed by energizing the electromagnet 8.

[0061] When the robot turns, the first universal joint 62 and the second universal joint 73 in the circumferential adjustment mechanism 6 and the axial adjustment assembly 7 bend at a certain angle, thereby dividing the entire robot into three sections for turning respectively, and the length of each section is the turning length of the entire robot.

[0062] The present invention can complete the inspection of T-shaped pipes with a large difference in diameter between the main pipe and the branch pipe at one time. At the same time, the robot's overall bending ability is not inferior to that of a single robot. In addition, the sub-robot body 4 also has two different diameter-changing modes: "single-side diameter change" and "overall diameter change", which correspond to the two important properties of adaptive branch pipe center position and adaptive branch pipe diameter size, respectively, so that the sub-robot body 4 has good adaptability and passing ability. Compared with traditional pipeline inspection robots, it has high efficiency, good reliability, flexibility and stability, and is easier to effectively complete the inspection of T-shaped pipes.

[0063] The elastic coefficients of the compression spring and the tension spring 52 mentioned in the article meet the technical requirements of the technical solution of the present invention.

[0064] Those skilled in the art will appreciate that other similar connection methods may also be used to implement the present invention, such as welding, bonding or screwing.

[0065] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A mother-child pipeline robot, comprising a first mother robot body (1) and a second mother robot body (2), It is characterized in that Also includes: A cabin (3), wherein two ends of the cabin (3) are respectively connected to the first mother robot body (1) and the second mother robot body (2), and a child robot body (4) is arranged inside the cabin (3); A flexible lifting mechanism (5), wherein the flexible lifting mechanism (5) is arranged inside the cabin (3), and the flexible lifting mechanism (5) comprises a flexible rope (51) and a tension spring (52), wherein both ends of the flexible rope (51) are respectively connected to both sides of the cabin (3), one end of the tension spring (52) is connected to the flexible rope (51), and the other end is connected to the inner wall of the cabin (3), and the flexible rope (51) is in contact with the bottom of the sub-robot body (4).

2. A mother-and-child pipeline robot according to claim 1, It is characterized in that The flexible lifting mechanism (5) also includes a winding mechanism (53), which is arranged inside the cabin (3). The winding mechanism (53) includes a support (531), a driving mechanism (532) and a winch (533). The support (531) is fixedly arranged inside the cabin (3), the winch (533) is rotatably connected to the cabin (3), the driving mechanism (532) is arranged on the support (531), and the driving mechanism (532) is transmission-connected to the winch (533).

3. The mother-child pipeline robot according to claim 1, It is characterized in that The sub-robot body (4) comprises a fixed frame (41), a rotating rod (42), a camera (43), a first support arm assembly (44), a second support arm assembly (45) and a track (46); the camera (43) is arranged at the end of the fixed frame (41); the rotating rod (42) is rotatably connected to the inside of the fixed frame (41); the first support arm assembly (44) and the second support arm assembly (45) are both connected to the rotating rod (42); and the track (46) is respectively connected to the first support arm assembly (44) and the second support arm assembly (45).

4. The mother-child pipeline robot according to claim 3, It is characterized in that The first support arm assembly (44) comprises a first movable block (441), a second movable block (442), a spring telescopic rod (443), a rotating motor (444) and a connecting arm (445); the first movable block (441) is rotatably connected to the rotating rod (42), and the first movable block (441) is fixedly connected to the fixed frame (41); the rotating motor (444) is fixedly installed on the first movable block (441); the rotating rod (42) is fixedly installed on the output end of the rotating motor (444); the second movable block (442) is threadedly connected to the rotating rod (42); one end of the spring telescopic rod (443) is rotatably connected to the first movable block (441), and the other end is rotatably connected to the crawler (46); one end of the connecting arm (445) is rotatably connected to the second movable block (442), and the other end is slidably connected to the spring telescopic rod (443); the first movable block (441) and the second movable block (442) are both slidably connected to the fixed frame (41).

5. The mother-child pipeline robot according to claim 3, It is characterized in that The second support arm assembly (45) comprises a third movable block (451), a fourth movable block (452), a fixed rod (453) and a movable arm (454); the third movable block (451) is slidably connected to the rotating rod (42); the fourth movable block (452) is threadedly connected to the rotating rod (42); one end of the fixed rod (453) is rotatably connected to the third movable block (451), and the other end is rotatably connected to the crawler (46); one end of the movable arm (454) is rotatably connected to the fixed rod (453), and the other end is rotatably connected to the fourth movable block (452); a compression spring is provided between the third movable block (451) and the fourth movable block (452); and the third movable block (451) and the fourth movable block (452) are both slidably connected to the fixed frame (41).

6. The mother-child pipeline robot according to claim 2, It is characterized in that A circumferential adjustment mechanism (6) is arranged between the first mother robot body (1) and the cabin body (3), and the circumferential adjustment mechanism (6) includes a first elastic membrane coupling (61), a first universal joint (62), a left flange (63) and a disc motor (64), wherein the disc motor (64) is fixedly installed inside the support (531), the left flange (63) is fixedly installed at the end of the cabin body (3), and the output end of the disc motor (64) is arranged inside the left flange (63), the first elastic membrane coupling (61) is connected to one end of the first mother robot body (1), one end of the first universal joint (62) is connected to the first elastic membrane coupling (61), and the other end is connected to the output end of the disc motor (64).

7. The mother-child pipeline robot according to claim 1, It is characterized in that An axial adjustment assembly (7) is arranged between the second mother robot body (2) and the cabin body (3), and the axial adjustment assembly (7) includes a right flange (71), a second elastic membrane coupling (72), a second universal joint (73) and an electric push cylinder (74). The electric push cylinder (74) is fixedly installed on the second mother robot body (2), the right flange (71) is connected to the cabin body (3), one end of the second universal joint (73) is connected to the right flange (71), and the other end is connected to the second elastic membrane coupling (72), and the second elastic membrane coupling (72) is connected to the output end of the electric push cylinder (74).

8. The mother-and-child pipeline robot according to claim 2, It is characterized in that The driving mechanism (532) comprises a driving motor (536), a low-speed gear (534) and a high-speed gear (535); the driving motor (536) is fixedly mounted on the support (531); the low-speed gear (534) is fixedly connected to the output end of the driving motor (536); the high-speed gear (535) is rotatably connected to the support (531); the high-speed gear (535) is connected to the capstan (533); and the high-speed gear (535) is meshed with the low-speed gear (534).

9. The mother-child pipeline robot according to claim 1, It is characterized in that An electromagnet (8) is arranged inside the cabin (3).

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