Round and square pipe dual-adaptive pipeline detection robot

Abstract

The invention relates to the field of pipeline robots, and discloses a round and square pipe dual-adaptive pipeline detection robot which comprises a supporting mechanism serving as a rack of the detection robot. The multiple reducing mechanisms are arranged along the circumference of the supporting mechanism at intervals, are correspondingly provided with the walking mechanisms and are used for adjusting the distance between the supporting mechanism and the walking mechanisms so as to adapt to the inner diameters of different pipelines; wherein at least two walking mechanisms making contact with the inner wall of the pipeline due to gravity are connected with the corresponding diameter-variable mechanisms through switching mechanisms so as to adapt to different types of pipelines. The two walking mechanisms on the bottom side are subjected to posture conversion through the conversion mechanism, so that the robot adapts to the inner walls of different pipelines at the same time, detection work in large pipelines and operation conversion of pipelines with different radiuses can be achieved, the robot is different from common pipelines with different specifications, and the detection efficiency is improved through posture conversion during detection of round and square pipes. And the application range of the pipeline robot in the pipeline operation field is greatly expanded.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a round and square tube double-adaptation pipeline detection robot. Background Art

[0002] Since the current internal operation of pipelines is still a world problem, the work that humans can currently carry out in pipelines is still very limited. In various complex engineering practices, due to the limitations of general equipment, the docking of mechanical devices and work objects has difficulties such as inability to enter, reach, and connect, which greatly affects the progress and quality of the project. In addition, the existing pipeline robots are not well adapted to various specifications, and one robot cannot solve various pipeline problems. It is urgent to design various special machines or robots used in various special working conditions in a targeted manner, as special auxiliary tools to complete the predetermined work tasks quickly and well. Summary of the invention

[0003] In view of the shortcomings of the prior art, the present invention provides a round and square tube dual-adaptation pipeline inspection robot, which solves the problem that traditional pipeline robots have low specification adaptability and it is difficult to use one robot to adapt to different types of pipelines for inspection.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions: a round and square tube double-adaptation pipeline detection robot, comprising:

[0005] A supporting mechanism, serving as a frame of the inspection robot;

[0006] A plurality of diameter-changing mechanisms, which are arranged at intervals along the circumference of the supporting mechanism and are each correspondingly provided with a traveling mechanism, for adjusting the distance between the supporting mechanism and the traveling mechanism to adapt to different inner diameters of pipes;

[0007] Among them, at least two walking mechanisms that contact the inner wall of the pipeline due to gravity are connected to the corresponding diameter-changing mechanisms through a conversion mechanism to adapt to different types of pipelines.

[0008] Preferably, the support mechanism comprises a support frame, multiple side surfaces of the support frame are fixedly connected with side baffles, multiple diameter-changing mechanisms are respectively fixedly connected to one side of multiple side baffles, and one side of the side baffles is fixedly connected to a limiting frame.

[0009] Preferably, the supporting frame is in the shape of a triangular prism, three diameter-changing mechanisms are provided correspondingly, and two walking mechanisms are provided correspondingly.

[0010] Preferably, a control circuit board and a battery are arranged inside the support mechanism.

[0011] Preferably, the reducing mechanism includes a first motor and two groups of reducing frames, the first motor is fixedly connected to one side of the side baffle, the output end of the first motor is fixedly connected to one group of the reducing frames through a coupling, the other group of the reducing frames is hinged to one side of the side baffle through a fixed seat, the two groups of reducing frames are hinged to one side of the walking mechanism away from the side baffle, and the two groups of reducing frames form a parallelogram double crank mechanism.

[0012] Preferably, the conversion mechanism includes a connecting plate, which is hinged at one end of the two groups of reducers away from the side baffles, and a conversion seat is fixedly connected to one side of the connecting plate, and a conversion slot is provided on one side of the conversion seat, in which an L-shaped connecting rod is inserted, which can adapt to at least two different inclination angles, and the L-shaped connecting rod is a square tube, and the conversion slot is provided with an L-shaped connecting rod that can adapt to at least two inclination angles, and the posture conversion of the walking mechanism can be achieved by plugging and pulling out the L-shaped connecting rod, so that it can adapt to different types of pipe inner walls, and the conversion seat is located on one side of the conversion slot and is fixedly connected to a limited fixed baffle by bolts to ensure that the L-shaped connecting rod will not fall out of the conversion slot, thereby maintaining the stability of the posture, and the design of the conversion mechanism enables the robot to flexibly adapt to different pipeline environments, thereby improving the versatility and adaptability of the machine.

[0013] Preferably, the walking mechanism includes two fixed plates, the two fixed plates are fixedly connected via a support frame, a second motor is fixedly connected to one side of the support frame, an output end of the second motor is connected to a main walking wheel via a belt drive assembly, the main walking wheel is rotatably connected to one side of the fixed plate, a plurality of auxiliary support wheels are fixedly connected to one side of the support frame, tracks are provided on the outer sides of the main walking wheel and the auxiliary support wheels, and a connecting frame is fixedly connected to the outer side of the fixed plate.

[0014] Preferably, the connecting frame is hinged to one end of the two groups of reducing frames away from the side baffle.

[0015] Preferably, the connecting frame is fixedly connected to one end of the L-shaped connecting rod.

[0016] Preferably, the detection robot also includes a detection mechanism, which includes a mounting frame, the mounting frame is fixedly connected to one end of the supporting mechanism, a second servo is installed on one side of the mounting frame, a first servo is installed on one side of the second servo, a Bluetooth camera is installed on one side of the first servo, and a laser radar is installed on one side of the mounting frame.

[0017] The present invention provides a round and square pipe double-adaptation pipeline inspection robot. It has the following beneficial effects:

[0018] 1. The present invention connects the two bottom-side walking mechanisms and the diameter-changing mechanism through a conversion mechanism, so that before the detection robot is used, the postures of the two bottom-side walking mechanisms can be changed through the conversion mechanism, so that it can adapt to different pipeline inner walls at the same time, and can realize the detection work in large pipelines and the operation conversion of pipelines with different radii. Different from ordinary pipelines of different specifications, the application scope of the pipeline robot in the pipeline operation field is greatly expanded through the posture conversion during the detection of round and square pipes.

[0019] 2. The present invention takes into account that ordinary pipeline robots often use cables, but cables are very inconvenient during the operation of the robot. By using batteries on the detection robot, the power and speed can be guaranteed, which greatly improves the convenience of using the pipeline robot. By integrating the battery and the control circuit board and installing them inside the support mechanism, the structure of the robot is compact and its size is reduced.

[0020] 3. The present invention is easy to adapt to the diversity of large pipelines, and implements energy conservation and environmental protection. It can realize multiple uses of one machine, avoiding the purchase of multiple robots to adapt to different pipelines, and the low utilization rate, resulting in waste and increased costs. At the same time, the robot is mature in turning or walking on different pipelines, which adds more feasibility to the complex and changeable pipeline environment.

[0021] 4. In the present invention, when there is sludge or sewage inside the pipe, the running mechanism on the bottom side is in contact with the sludge and sewage, and the contaminated running mechanism needs to be cleaned after the detection is completed. At this time, the running mechanism on this side can be conveniently disassembled through the provided conversion mechanism, so as to facilitate the cleaning of the running mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the supporting mechanism structure of the present invention;

[0024] Figure 3 It is a schematic diagram of the structure of the diameter-changing mechanism of the present invention;

[0025] Figure 4 It is a schematic diagram of the structure of the walking mechanism of the present invention;

[0026] Figure 5 It is a structural schematic diagram of the walking mechanism of the present invention from another perspective;

[0027] Figure 6 It is a schematic diagram of the structure of the walking mechanism connected with the conversion mechanism of the present invention;

[0028] Figure 7 A schematic diagram of a conversion mechanism structure of the present invention;

[0029] Figure 8 It is a schematic diagram of another form of the conversion mechanism structure of the present invention;

[0030] Fig. 9 It is a cross-sectional schematic diagram of the conversion mechanism of the present invention;

[0031] Fig.10 It is a schematic diagram of the structure of the detection mechanism of the present invention.

[0032] Among them, 10, supporting mechanism; 11, supporting frame; 12, side baffle; 13, limiting frame; 20, reducing mechanism; 21, first motor; 22, coupling; 23, reducing frame; 24, fixed seat; 30, walking mechanism; 31, fixed plate; 32, supporting frame; 33, connecting frame; 34, second motor; 35, belt drive assembly; 36, main walking wheel; 37, auxiliary supporting wheel; 38, crawler track; 40, conversion mechanism; 41, connecting plate; 42, conversion seat; 421, conversion slot; 43, L-shaped connecting rod; 44, limiting fixed baffle; 50, detection mechanism; 51, mounting frame; 52, Bluetooth camera; 53, first servo; 54, second servo; 55, laser radar. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the specification of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Example:

[0035] Please refer to the attached Figure 1 -Attached Fig.10 The embodiment of the present invention provides a round and square tube double-adaptation pipeline inspection robot, comprising:

[0036] The support mechanism 10, as a frame of the detection robot, includes a support frame 11, multiple sides of the support frame 11 are fixedly connected to side baffles 12, multiple diameter-changing mechanisms 20 are respectively fixedly connected to one side of the multiple side baffles 12, and one side of the side baffles 12 is fixedly connected to a limiting frame 13. The support frame 11 is a triangular prism, and three diameter-changing mechanisms 20 are correspondingly provided, and two walking mechanisms 30 are correspondingly provided;

[0037] In other embodiments, in order to ensure the stability of the detection robot in the pipeline, the support frame 11 can also be set to a quadrangular prism, a pentagonal prism, etc., to install multiple sets of walking mechanisms 30;

[0038] Multiple diameter-changing mechanisms 20 are arranged at intervals along the circumference of the support mechanism 10, and each of them is correspondingly equipped with a walking mechanism 30, which is used to adjust the distance between the support mechanism 10 and the walking mechanism 30 to adapt to different pipe inner diameters. The diameter-changing mechanism 20 is a parallelogram double crank mechanism as the moving body, driven by a reduction motor, and multiple sides move simultaneously to achieve the effect of changing the inner diameter, so as to adapt to working detection in pipes with different inner diameters;

[0039] Among them, at least two walking mechanisms 30 that are in contact with the inner wall of the pipeline due to gravity are connected to the corresponding diameter-changing mechanism 20 through a conversion mechanism 40 to adapt to different types of pipelines;

[0040] In this embodiment, by connecting the two bottom-side walking mechanisms 30 and the diameter-changing mechanism 20 through a conversion mechanism 40, the postures of the two bottom-side walking mechanisms 30 can be changed through the conversion mechanism 40 before the detection robot is used, so as to adapt to different pipe inner walls at the same time.

[0041] The pipeline inspection robot of the present invention can realize the inspection work in large pipelines and the operation conversion of pipelines with different radii. Different from ordinary pipeline specifications, the pipeline robot can greatly expand the application scope of the pipeline robot in the pipeline operation field by converting its posture when inspecting round and square pipes.

[0042] In one embodiment, a control circuit board and a battery are disposed inside the support mechanism 10;

[0043] In this embodiment, it is considered that ordinary pipeline robots often use cables, but cables are very inconvenient during the operation of the robot. By using batteries on the detection robot, the power and speed can be guaranteed, which greatly improves the convenience of using the pipeline robot. By integrating the battery and the control circuit board and installing them inside the support mechanism 10, the structure of the robot is made compact and its size is reduced.

[0044] In one embodiment, the diameter reducing mechanism 20 includes a first motor 21 and two groups of diameter reducing frames 23. The first motor 21 is fixedly connected to one side of the side baffle 12. The output end of the first motor 21 is fixedly connected to one group of diameter reducing frames 23 through a coupling 22. The other group of diameter reducing frames 23 is hinged to one side of the side baffle 12 through a fixing seat 24. The two groups of diameter reducing frames 23 are hinged to one side of the walking mechanism 30 away from the side baffle 12. The two groups of diameter reducing frames 23 form a parallelogram double crank mechanism.

[0045] In this embodiment, when the diameter-changing mechanism 20 is working, it drives one group of diameter-changing frames 23 to rotate through the output of the first motor 21 and the coupling 22, thereby driving the walking mechanism 30 at its end to rotate along it. At this time, the other group of diameter-changing frames 23 acts as a pull rod, and the two groups of diameter-changing frames 23 move in parallel to achieve diameter change.

[0046] In one embodiment, the walking mechanism 30 includes two fixed plates 31, the two fixed plates 31 are fixedly connected by a support frame 32, a second motor 34 is fixedly connected to one side of the support frame 32, an output end of the second motor 34 is connected to a main walking wheel 36 through a belt transmission assembly 35, the main walking wheel 36 is rotatably connected to one side of the fixed plate 31, a plurality of auxiliary supporting wheels 37 are fixedly connected to one side of the support frame 32, tracks 38 are sleeved on the outer sides of the main walking wheels 36 and the auxiliary supporting wheels 37, and a connecting frame 33 is fixedly connected to the outer side of the fixed plate 31;

[0047] In this embodiment, when the walking mechanism 30 is in motion, the output of the second motor 34 and the belt transmission assembly 35 drive the main walking wheel 36 to rotate as the main drive, and then drive the track 38 to move on the outside of the main walking wheel 36 and the auxiliary support wheel 37, thereby driving the detection robot to walk.

[0048] In one embodiment, the conversion mechanism 40 includes a connecting plate 41, which is hinged at one end of the two sets of reducer frames 23 away from the side baffle 12. A conversion seat 42 is fixedly connected to one side of the connecting plate 41, and a conversion groove 421 is provided on one side of the conversion seat 42. An L-shaped connecting rod 43 is inserted into the conversion groove 421. The L-shaped connecting rod 43 is a square tube. The conversion groove 421 is provided with an L-shaped connecting rod 43 that can adapt to at least two inclination angles. The walking mechanism 30 connected with the L-shaped connecting rod 43 moves, so that the posture of the walking mechanism 30 is changed to adapt to different types of pipe inner walls. The conversion seat 42 is located on one side of the conversion groove 421 and is fixedly connected to a limited fixed baffle 44 by bolts.

[0049] In this embodiment, the conversion seat 42 is located on the connecting plate 41 and has a conversion slot 421. This conversion slot 421 is a key element because it allows the L-shaped connecting rod 43 to be plugged in, and it is designed to be flexible enough to adapt to at least two different tilt angles; the L-shaped connecting rod 43 is a square tube-shaped component, which is plugged into the conversion slot 421. By plugging and unplugging the L-shaped connecting rod 43, the posture conversion of the walking mechanism 30 can be achieved to adapt to the shapes and angles of different pipe inner walls; the limiting fixed baffle 44 is located on one side of the conversion seat 42 and is fixed there by bolts. The function of this baffle is to ensure that the L-shaped connecting rod 43 will not fall out of the conversion slot 421, thereby maintaining the stability of the posture;

[0050] When the posture conversion of the walking mechanism 30 is required, the bolts need to be unscrewed first to remove the limit fixing baffle 44. Then, the L-shaped connecting rod 43 can be pulled out from the conversion slot 421 and inserted into the conversion slot 421 according to the required posture. Finally, the limit fixing baffle 44 is re-fixed by bolts to ensure that the L-shaped connecting rod 43 is firmly held in the conversion slot 421, thereby completing the posture conversion of the single-side walking mechanism 30.

[0051] In one embodiment, the connecting frame 33 is hinged to the ends of the two sets of reducing frames 23 away from the side baffle 12;

[0052] In this embodiment, the connecting frame 33 in the traveling mechanism 30 on the upper side is hinged to the ends of the two groups of reducing frames 23 of the reducing mechanism 20 on this side.

[0053] In one embodiment, the connecting frame 33 is fixedly connected to one end of the L-shaped connecting rod 43;

[0054] In this embodiment, the walking mechanism 30 on the lower side is fixed to the end of the L-shaped connecting rod 43 through the connecting frame 33, so that when the L-shaped connecting rod 43 performs posture conversion in the conversion groove 421, the posture conversion of the walking mechanism 30 on this side is realized.

[0055] In some embodiments, when there is sludge or sewage on the inside of the pipe, the walking mechanism 30 on the bottom side is in contact with the sludge and sewage, and the contaminated walking mechanism 30 needs to be cleaned after the detection is completed. At this time, through the set conversion mechanism 40, the walking mechanism 30 on this side can also be conveniently disassembled to facilitate the cleaning of the walking mechanism 30.

[0056] In one embodiment, the detection robot further includes a detection mechanism 50, the detection mechanism 50 includes a mounting frame 51, the mounting frame 51 is fixedly connected to one end of the support mechanism 10, a second steering gear 54 is mounted on one side of the mounting frame 51, a first steering gear 53 is mounted on one side of the second steering gear 54, a Bluetooth camera 52 is mounted on one side of the first steering gear 53, and a laser radar 55 is mounted on one side of the mounting frame 51;

[0057] In this embodiment, an infrared laser radar 55 is placed at the front end, a Bluetooth camera 52 is placed on the right side, and two steering gears are installed under the Bluetooth camera 52 to ensure that the internal environment can be observed in 360 degrees in four directions. The laser radar 55 is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. The working principle of the detection mechanism 50 is to emit a detection signal to the target, and then compare the received signal reflected from the target with the transmitted signal. After appropriate processing, the relevant information of the target can be obtained. Thus, the function of obtaining the internal information of the pipeline is achieved. The camera imaging is achieved by providing a certain light source, cooperating with the camera shooting and connecting to the external device, so as to receive the image externally.

[0058] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A round and square pipe double-adaptation pipeline inspection robot, It is characterized in that include: A support mechanism (10) serving as a frame of the detection robot; A plurality of diameter-changing mechanisms (20), the plurality of diameter-changing mechanisms (20) being arranged at intervals along the circumference of the support mechanism (10), and each correspondingly being equipped with a running mechanism (30) for adjusting the distance between the support mechanism (10) and the running mechanism (30) to adapt to different pipe inner diameters; At least two walking mechanisms (30) that are in contact with the inner wall of the pipeline due to gravity are connected to the corresponding diameter-changing mechanism (20) via a conversion mechanism (40) to adapt to different types of pipelines.

2. A round and square tube double-adaptation pipeline inspection robot according to claim 1, It is characterized in that The support mechanism (10) comprises a support frame (11), multiple side surfaces of the support frame (11) are fixedly connected to side baffles (12), multiple diameter-changing mechanisms (20) are respectively fixedly connected to one side of the multiple side baffles (12), and one side of the side baffles (12) is fixedly connected to a limiting frame (13).

3. A round and square tube double-adaptation pipeline inspection robot according to claim 2, It is characterized in that The support frame (11) is in the shape of a triangular prism, three diameter-changing mechanisms (20) are provided correspondingly, and two walking mechanisms (30) are provided correspondingly.

4. A round and square tube double-adaptation pipeline inspection robot according to claim 1, It is characterized in that A control circuit board and a storage battery are arranged inside the support mechanism (10).

5. The round and square tube dual-adaptation pipeline inspection robot according to claim 1, It is characterized in that The diameter-changing mechanism (20) comprises a first motor (21) and two groups of diameter-changing frames (23); the first motor (21) is fixedly connected to one side of the side baffle (12); the output end of the first motor (21) is fixedly connected to one group of the diameter-changing frames (23) via a coupling (22); the other group of the diameter-changing frames (23) is hinged to one side of the side baffle (12) via a fixing seat (24); the sides of the two groups of diameter-changing frames (23) away from the side baffle (12) are hinged to one side of the walking mechanism (30); the two groups of diameter-changing frames (23) form a parallelogram double crank mechanism.

6. A round and square tube dual-adaptation pipeline inspection robot according to claim 5, It is characterized in that The conversion mechanism (40) comprises a connecting plate (41), the connecting plate (41) being hinged to one end of the two groups of the reducing frames (23) away from the side baffle (12), a conversion seat (42) being fixedly connected to one side of the connecting plate (41), a conversion groove (421) being provided on one side of the conversion seat (42), an L-shaped connecting rod (43) being inserted into the conversion groove (421), the L-shaped connecting rod (43) being a square tube, the conversion groove (421) being provided with an L-shaped connecting rod (43) that can adapt to at least two inclination angles, so that the walking mechanism (30) can be converted in posture to adapt to different types of inner walls of pipes, and the conversion seat (42) is located on one side of the conversion groove (421) and is fixedly connected to a limited fixed baffle (44) by bolts.

7. The round and square tube dual-adaptation pipeline inspection robot according to claim 5, It is characterized in that The walking mechanism (30) comprises two fixed plates (31), the two fixed plates (31) are fixedly connected via a support frame (32), a second motor (34) is fixedly connected to one side of the support frame (32), an output end of the second motor (34) is connected to a main walking wheel (36) via a belt transmission assembly (35), the main walking wheel (36) is rotatably connected to one side of the fixed plate (31), a plurality of auxiliary supporting wheels (37) are fixedly connected to one side of the support frame (32), tracks (38) are sleeved on the outer sides of the main walking wheels (36) and the auxiliary supporting wheels (37), and a connecting frame (33) is fixedly connected to the outer side of the fixed plate (31).

8. The round and square tube double-adaptation pipeline inspection robot according to claim 7, It is characterized in that The connecting frame (33) is hinged to one end of the two sets of reducing frames (23) away from the side baffle (12).

9. The round and square tube dual-adaptation pipeline inspection robot according to claim 7, It is characterized in that The connecting frame (33) is fixedly connected to one end of the L-shaped connecting rod (43).

10. The round and square tube dual-adaptation pipeline inspection robot according to claim 1, It is characterized in that The detection robot also includes a detection mechanism (50), the detection mechanism (50) includes a mounting frame (51), the mounting frame (51) is fixedly connected to one end of the support mechanism (10), a second steering gear (54) is mounted on one side of the mounting frame (51), a first steering gear (53) is mounted on one side of the second steering gear (54), a Bluetooth camera (52) is mounted on one side of the first steering gear (53), and a laser radar (55) is mounted on one side of the mounting frame (51).

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