A turbine-driven pipeline walking robot

Abstract

The present application relates to the technical field of pipeline detection, and provides a turbine-driven pipeline walking robot, including: a supporting frame, a sealing unit, a turbocharger unit, an energy storage deceleration unit, and a high-torque power unit, wherein the turbocharger unit increases the medium flow rate through the difference between the fluid inlet channel and the pipeline diameter, so as to drive the turbine to rotate. The turbine unit is provided with a multi-blade turbine, which can effectively capture the kinetic energy of the fluid and drive the turbine to rotate to generate torque. The energy storage deceleration unit adjusts the output torque and speed through gear transmission to adapt to pipeline environments with different flow rates. And through the energy storage deceleration design, the drive wheel is driven to output a large torque, thereby solving the problem of insufficient driving force and driving the leakage magnetic detector to move forward. In addition, by providing a discharge structure and a deceleration unit design, the robot's running speed can be controlled, and the robot can also be ensured to run stably at a low speed in a high-flow pipeline.

Description

Technical Field

[0001] The present application relates to the field of pipeline detection, and in particular to a turbine-driven pipeline walking robot. Background Art

[0002] As a common fluid drive device, the working principle of the differential pressure drive mainly relies on the pressure difference between the front and rear of the fluid in the pipeline to generate driving force. This type of drive is widely used in various industrial occasions, including liquid transportation, gas control and automated robots to drive valves, pumps or other mechanical equipment. Under ideal working conditions, when the fluid in the pipeline has a stable pressure difference, the differential pressure drive can provide sufficient driving force to ensure the smooth operation of the robot.

[0003] However, in practical applications, especially in some special pipeline environments, the performance of differential pressure actuators may be limited. For example, in high-pressure, low-flow pipelines, although the pressure in the pipeline is high, due to the slow flow rate, the pressure difference before and after the fluid is often difficult to effectively establish. In this case, the differential pressure actuator may not work properly or even fail to start due to insufficient driving force. In addition, in low-pressure pipelines, due to the low overall pressure level in the pipeline, the differential pressure actuator also faces the problem of insufficient driving force. In these environments, even if the fluid flows in the pipeline, the pressure difference generated is often not enough to drive the differential pressure actuator to achieve the desired effect.

[0004] Especially in the field of pipeline inspection, the driving of precision equipment such as magnetic flux leakage detectors often relies on stable and sufficient driving force. In high-pressure, low-flow or low-pressure pipelines, the dragging of equipment such as magnetic flux leakage detectors becomes particularly difficult due to the insufficient driving force of the differential pressure drive, which not only affects the efficiency of the inspection work, but may also have an adverse effect on the normal operation of the equipment. Therefore, how to solve the driving force problem of the differential pressure drive in these special pipeline environments has become a technical problem that needs to be solved urgently in the current industry. Summary of the invention

[0005] In order to solve the problem that the magnetic flux leakage detector cannot be stably dragged in a high-pressure and low-flow-rate pipeline or a low-pressure pipeline due to the difficulty in establishing a pressure difference in a pressure differential driver, resulting in insufficient driving force, the present application provides a turbine-driven in-pipe walking robot, including: a supporting frame.

[0006] A sealing unit, wherein the sealing unit is fixed to one end of the supporting frame, the outer contour of the sealing unit contacts the inner wall of the pipeline, and the sealing unit is provided with a turbine air inlet;

[0007] A turbocharger unit, the turbocharger unit is arranged inside the support frame, and the turbocharger unit includes a fluid inlet channel, a fluid exhaust channel and a sealing cavity;

[0008] One end of the fluid inlet channel is in communication with the turbine air inlet, and the other end is in communication with the sealed cavity; one end of the fluid discharge channel is in communication with the sealed cavity, and the other end is an open end;

[0009] The diameters of the fluid inlet channel and the fluid exhaust channel are both smaller than half of the diameter of the pipe;

[0010] A driving turbine is provided in the sealing cavity, and a fan blade surface of the driving turbine intersects with the flow direction of the fluid in the fluid inlet channel and the fluid discharge channel;

[0011] An energy storage deceleration unit, the energy storage deceleration unit is fixed on the support frame and is arranged on a side of the turbocharger unit away from the sealing unit, and the energy storage deceleration unit is drivingly connected to the driving turbine;

[0012] A high-torque power unit, one end of which is rotationally connected to the energy storage deceleration unit, and the other end of which is in contact with the inner wall of the pipeline.

[0013] In a feasible implementation, the turbocharger unit further includes a turbine output shaft, the turbine output shaft is fixed on the axis of the driving turbine, and one end of the turbine output shaft passes through the sealing cavity;

[0014] The energy storage reduction unit comprises: a driving pulley, a transmission belt, a driven pulley and a harmonic reducer;

[0015] The driving pulley is fixed on the turbine output shaft, one end of the transmission belt is sleeved on the driving pulley and the other end is sleeved on the driven pulley, the driven pulley is fixedly connected to the input shaft of the harmonic reducer, and the harmonic reducer is fixed on the supporting frame.

[0016] In a feasible implementation, the turbocharger unit further includes: a driving gear and a driven gear;

[0017] The driving gear is arranged on a side of the harmonic reducer away from the driven pulley, and a driving gear shaft is arranged on the driving gear, and the driving gear shaft is fixedly connected to the output shaft of the harmonic reducer;

[0018] The driving gear is meshed with a driven gear, the driven gear is provided with a driven gear shaft, and the driven gear shaft is rotatably connected to the supporting frame;

[0019] The driven gear is rotationally connected to one end of the high-torque power unit through the driven gear shaft.

[0020] In a feasible implementation, the high-torque power unit includes: a mounting plate, the mounting plate being fixed on a supporting frame;

[0021] One end of the mounting plate is hinged to the driven gear shaft, and the other end is provided with a large torque power wheel, and the large torque power wheel is rotatably connected to the mounting plate.

[0022] In a feasible implementation, the high torque power unit further includes: a connecting shaft;

[0023] The high torque power wheel is rotatably connected to the mounting plate via the connecting shaft, and the high torque power wheel is in contact with the inner wall of the pipeline;

[0024] The connecting shaft passes through the mounting plate and is rotatably connected to the mounting plate. One end of the connecting shaft is fixedly connected to the high-torque power wheel, and the other end is provided with a conveyor belt.

[0025] One end of the conveyor belt is sleeved on the connecting shaft, and the other end is sleeved on the driven gear shaft.

[0026] In a feasible implementation, the number of the driven gear and the number of the high-torque power unit are both four.

[0027] In a feasible implementation, the sealing unit comprises: a sealing leather cup and an end cover, and the end cover is provided with the turbine air inlet;

[0028] The sealing leather cup is coaxial with the end cover, the sealing leather cup is wrapped around the outer contour of the end cover, and the outer contour of the sealing leather cup is in contact with the inner wall of the pipe.

[0029] In a feasible implementation, it also includes a discharge regulating valve;

[0030] The end cover is also provided with a drain port, the drain regulating valve is fixed on the drain port, and the drain regulating valve is configured to control the switch of the drain port.

[0031] In a feasible implementation, it also includes a magnetic leakage detector, which is fixed on the end cover, the magnetic leakage detector is communicatively connected with the leakage flow regulating valve, and the magnetic leakage detector is configured to control the opening and closing degree of the leakage flow regulating valve.

[0032] In a feasible implementation, a pulling joint is provided on the end cover, and the pulling joint is used to connect the magnetic flux leakage detector.

[0033] The present application provides a turbine-driven robot for walking in a pipeline, and proposes a turbocharger structure. Through the design of a small-caliber air intake channel, the medium flow rate is increased to drive the turbine to rotate. The fluid medium (such as water, gas, etc.) in the pipeline drives the turbine to rotate and drives the robot forward. The robot speed can be automatically adjusted according to the fluid flow rate to ensure stable driving under different flow rate conditions. It solves the problem that the pressure difference before and after the fluid is often difficult to effectively establish in a pipeline environment with a slow flow rate or low pressure, so that the pressure difference driver may not work normally due to insufficient driving force. The driving capacity is effectively improved through the turbine structure, the problem of insufficient power of traditional robots is overcome, and it only relies on the fluid power in the pipeline, without batteries or external power supply, and reduces maintenance costs. At the same time, it is automatically adjusted according to the fluid flow rate to ensure the stability of the driving speed. In addition, by opening a discharge structure and a deceleration unit design, the robot's running speed can be controlled, and the robot can also be ensured to run stably at a low speed in a high-flow pipeline. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the implementation of the present invention, and together with the specification are used to explain the principles of the embodiments of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the implementation of the present invention, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0035] Figure 1 1 is a schematic structural diagram of a turbine-driven in-pipe walking robot exemplarily shown in an embodiment of the present application;

[0036] Figure 2 yes Figure 1 Rear view of

[0037] Figure 3 is a schematic structural diagram of a sealing unit exemplarily shown in an embodiment of the present application;

[0038] Figure 4 is a schematic structural diagram of a turbocharger unit exemplarily shown in an embodiment of the present application;

[0039] Figure 5 is a schematic structural diagram of an energy storage deceleration unit exemplarily shown in an embodiment of the present application;

[0040] Figure 6 yes Figure 5 Rear view of

[0041] Figure 7 is a schematic structural diagram of a high torque power unit exemplarily shown in an embodiment of the present application;

[0042] Figure 8This is a schematic diagram of the movement of a turbine-driven in-pipe walking robot in a pipeline, as exemplified in an embodiment of the present application. DETAILED DESCRIPTION

[0043] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the embodiments of the present invention will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, many specific details are provided to provide a full understanding of the implementation of the embodiments of the present invention.

[0044] During the magnetic flux leakage detection process, the detector needs to move along the inside of the pipeline in order to perform a full-scale inspection of the pipe wall. The differential pressure driver provides a stable and reliable driving force for the detector by utilizing the pressure difference generated by the flow of the transmission medium in the pipeline, enabling it to move smoothly in the pipeline. In addition, when the fluid in the pipeline has a stable pressure difference, the differential pressure driver can provide sufficient driving force to ensure the smooth operation of the robot.

[0045] In special pipeline environments, such as high-pressure, low-flow pipelines, due to the slow flow rate, the pressure difference before and after the fluid is often difficult to establish effectively. In low-pressure pipelines, due to the low overall pressure level in the pipeline, the differential pressure driver may not work properly or even start due to insufficient driving force. In the field of pipeline inspection, the driving of precision equipment such as magnetic flux leakage detectors often relies on stable and sufficient driving force. In high-pressure, low-flow or low-pressure pipelines, the dragging of equipment such as magnetic flux leakage detectors becomes particularly difficult due to the problem of insufficient driving force of the differential pressure driver.

[0046] Reference Figures 1 to 8 As shown, the embodiment of the present application provides a turbine-driven in-pipe walking robot, comprising: a support frame 100; the support frame 100, as the main structure of the entire robot, can be made of high-strength lightweight materials, such as carbon fiber or aluminum alloy, to ensure that the robot has sufficient strength and rigidity, while reducing the overall weight, so as to facilitate flexible movement in the pipeline. The support frame 100 not only provides a stable installation platform for other components, but also ensures the stability and safety of the robot when traveling in the pipeline.

[0047] The sealing unit 200 is fixed to one end of the supporting frame 100. The outer contour of the sealing unit 200 contacts the inner wall of the pipeline. The sealing unit 200 is provided with a turbine air inlet 221. The sealing unit 200 can be made of elastic material (such as rubber or silicone), and its outer contour fits closely to the inner wall of the pipeline to form an effective seal. The sealing unit 200 is provided with a turbine air inlet 221 for introducing fluid (such as water, air, etc.) in the pipeline to drive the turbine. The sealing unit 200 can ensure the sealing between the robot and the inner wall of the pipeline to prevent fluid leakage, while allowing the fluid to enter the turbocharger unit 300 through the turbine air inlet 221 to provide power for driving the turbine. This design improves the energy efficiency and self-driving ability of the robot and reduces the dependence on external power supply.

[0048] The turbocharger unit 300 is arranged inside the support frame 100. The turbocharger unit 300 includes a fluid inlet channel 310, a fluid exclusion channel 320 and a sealed cavity 340; one end of the fluid inlet channel 310 is connected to the turbine air inlet 221, and the other end is connected to the sealed cavity 340; one end of the fluid exclusion channel 320 is connected to the sealed cavity 340, and the other end is an open end.

[0049] The fluid inlet channel 310 is the inlet portion of the turbocharger unit 300, and its main function is to introduce the fluid (such as water, air, etc.) in the pipeline into the sealed cavity 340 to drive the driving turbine 330 to rotate. The fluid discharge channel 320 is the outlet portion of the turbocharger unit 300, and is responsible for discharging the fluid after passing through the driving turbine 330 out of the sealed cavity 340.

[0050] The sealed cavity 340 is the core part of the turbocharger unit 300, which is used to accommodate the drive turbine 330 and ensure that it can rotate in a stable fluid environment. The cavity adopts a sealed design to prevent fluid leakage and provide enough space for the drive turbine 330 to rotate freely.

[0051] The diameters of the fluid inlet channel 310 and the fluid exclusion channel 320 are both less than half of the diameter of the pipeline; specifically, when the diameters of the fluid inlet channel 310 and the fluid exclusion channel 320 are small, the fluid flow rate in the fluid inlet channel 310 and the fluid exclusion channel 320 will be greater than the fluid flow rate in the pipeline, and the high-speed fluid can drive the turbine to rotate at a high speed. At the same time, it can reduce the resistance when the fluid enters, ensuring that the fluid can efficiently flow to the drive turbine 330. It helps to improve the kinetic energy utilization efficiency of the fluid and increase the rotation speed of the drive turbine 330, thereby enhancing the output power of the entire turbocharger unit 300. The fluid exclusion channel 320 can also reduce the resistance when the fluid is discharged. In addition, the fluid exclusion channel 320 and the fluid inlet channel 310 can be designed to be located at the same height to ensure that the fluid can smoothly leave the sealed cavity 340 and avoid unnecessary resistance to the drive turbine 330. The fluid exclusion channel 320 helps to improve the overall efficiency and stability of the turbocharger unit 300.

[0052] A driving turbine 330 is provided in the sealed cavity 340, and the blade surface of the driving turbine 330 intersects with the flow direction of the fluid in the fluid inlet channel 310 and the fluid removal channel 320. The driving turbine 330 may be provided with a plurality of blades, which can effectively capture the kinetic energy of the fluid, so that the driving turbine 330 rotates to generate torque. When the fluid enters the sealed cavity 340 through the fluid inlet channel 310, it impacts the blade surface of the driving turbine 330, causing it to start rotating. The rotation of the driving turbine 330 converts the kinetic energy of the fluid into mechanical energy, thereby driving the entire robot forward, realizing the self-drive of the robot, improving the energy conversion efficiency and driving torque, and achieving a supercharging effect through the driving turbine 330 to ensure that it can provide sufficient torque and power to overcome the resistance and friction in the pipeline.

[0053] The energy storage and deceleration unit 400 is fixed on the support frame 100 and is arranged on the side of the turbocharger unit 300 away from the sealing unit 200. The energy storage and deceleration unit 400 is transmission-connected to the driving turbine 330. The energy storage and deceleration unit 400 may include a flywheel, a reducer and a transmission mechanism for storing and releasing energy, while slowing down the rotation speed provided by the driving turbine 330 and increasing the torque output to meet the needs of the high-torque power unit 500.

[0054] The energy storage deceleration unit 400 achieves smooth regulation of the output of the driving turbine 330 by storing and releasing energy, avoiding speed instability caused by fluid fluctuations. Its function is to convert the high-speed and low-torque turbine output into low-speed and high-torque power, providing a stable and powerful driving force for the high-torque power unit 500.

[0055] A high torque power unit 500, one end of which is rotatably connected to the energy storage reduction unit 400, and the other end of which is in contact with the inner wall of the pipeline. The other end of the high torque power unit 500 can be equipped with a special drive wheel or track to directly contact the inner wall of the pipeline. The high torque power unit 500 is usually made of high-strength wear-resistant materials to withstand the complex environment in the pipeline and the need for long-term operation.

[0056] The high torque power unit 500 converts the torque transmitted by the energy storage reduction unit 400 into a driving force to propel the robot forward. The other end of the high torque power unit 500 is in direct contact with the inner wall of the pipeline, which not only increases the friction between the robot and the inner wall of the pipeline, but also enhances the robot's obstacle crossing ability and driving stability. This design enables the robot to travel smoothly in various pipelines (including curved, inclined or irregularly shaped pipelines) and complete inspection tasks.

[0057] It can be seen from the above content that the turbine-driven in-pipe walking robot provided in the embodiment of the present application increases the medium flow rate and drives the turbine to rotate through the turbocharger structure and the small-diameter air intake channel design. It solves the problem that in a pipeline environment with a slow flow rate or low pressure, the pressure difference before and after the fluid is often difficult to effectively establish, making the pressure difference type driver unable to work normally due to insufficient driving force. In conjunction with the sealing unit 200, the energy storage deceleration unit 400 and the high-torque power unit 500, the energy storage deceleration design is used to drive the drive wheel to output a large torque, thereby solving the problem of insufficient driving force and driving the leakage magnetic detector to move forward.

[0058] In some embodiments of the present application, the turbocharger unit 300 also includes a turbine output shaft 350, which is fixed on the axis of the drive turbine 330, and one end of the turbine output shaft 350 passes through the sealed cavity 340; the turbine output shaft 350 is embedded in the sealed cavity 340 and can rotate synchronously with the drive turbine 330; the other end passes through the sealed cavity 340, providing a physical connection for subsequent kinetic energy transfer. The main function of the turbine output shaft 350 is to transfer the mechanical energy generated by the rotation of the drive turbine 330 to the energy storage reduction unit 400. As a bridge for energy transfer, it ensures the efficient conversion from fluid kinetic energy to mechanical energy and provides a stable power source for subsequent power output.

[0059] The energy storage deceleration unit 400 includes: a driving pulley 410, a transmission belt 420, a driven pulley 430 and a harmonic reducer 440; the driving pulley 410 is fixed on the turbine output shaft 350, one end of the transmission belt 420 is sleeved on the driving pulley 410 and the other end is sleeved on the driven pulley 430, the driven pulley 430 is fixedly connected to the input shaft of the harmonic reducer 440, and the harmonic reducer 440 is fixed on the support frame 100.

[0060] The driving pulley 410 is fixed on the turbine output shaft 350 and rotates synchronously with the turbine output shaft 350. Both the driving pulley 410 and the transmission belt 420 can be made of wear-resistant materials with high friction coefficients to ensure a reliable connection between the two. The main function of the driving pulley 410 is to transfer the rotational power of the turbine output shaft 350 to the transmission belt 420. The main function of the transmission belt 420 is to transfer the rotational power of the driving pulley 410 to the driven pulley 430. The power transmission from the turbine output shaft 350 to the driven pulley 430 is achieved through the friction between the transmission belt 420.

[0061] The harmonic reducer 440 is a high-precision reduction device. The interior of the harmonic reducer 440 generally includes key components such as a wave generator, a flexible wheel and a rigid wheel. The elliptical motion of the wave generator causes the flexible wheel to produce elastic deformation, thereby achieving the effect of deceleration and increasing torque. The harmonic reducer 440 can convert the high-speed, low-torque power transmitted by the driven pulley 430 into low-speed, high-torque power. Through its internal precision transmission mechanism, it achieves a smooth deceleration of power and an increase in torque, providing a stable and powerful driving force for the subsequent high-torque power unit 500.

[0062] In some embodiments of the present application, the turbocharger unit 300 also includes: a driving gear 460 and a driven gear 450; the driving gear 460 is arranged on a side of the harmonic reducer 440 away from the driven pulley 430, and a driving gear shaft 461 is provided on the driving gear 460, and the driving gear shaft 461 is fixedly connected to the output shaft of the harmonic reducer 440.

[0063] The main function of the driving gear 460 and the driving gear shaft 461 is to transmit the power reduced by the harmonic reducer 440 to the driven gear 450. Through the meshing between the driving gear 460 and the driven gear 450, the power transmission from the harmonic reducer 440 to the driven gear 450 is realized, while maintaining the stability and continuity of the power.

[0064] The driving gear 460 is meshed with a driven gear 450 , and the driven gear 450 is provided with a driven gear shaft 451 , which is rotationally connected to the support frame 100 ; the driven gear 450 is rotationally connected to one end of the high-torque power unit 500 via the driven gear shaft 451 .

[0065] The main function of the driven gear 450 and the driven gear shaft 451 is to further transmit the power transmitted by the driving gear 460 to the high torque power unit 500. Through the meshing of the driven gear 450 and the driving gear 460, and the rotational connection between the driven gear shaft 451 and the high torque power unit 500, the power transmission from the gear transmission robot to the high torque power unit 500 is realized.

[0066] In some embodiments of the present application, the high-torque power unit 500 includes: a mounting plate 520, which is fixed on the supporting frame 100; one end of the mounting plate 520 is hinged to the driven gear shaft 451, and the other end is provided with a high-torque power wheel 510, and the high-torque power wheel 510 is rotationally connected to the mounting plate 520.

[0067] The main function of the mounting plate 520 is to serve as a support and connection platform for the high torque power unit 500. On the one hand, it firmly fixes the high torque power unit 500 on the support frame 100, and on the other hand, through the connection structure thereon, such as the hinge point and the rotation connection point, it realizes the connection with the driven gear shaft 451 and the high torque power wheel 510. This design not only improves the structural strength of the entire robot, but also ensures the accuracy and stability of power transmission.

[0068] The hinged connection between the driven gear shaft 451 and the mounting plate 520 is mainly used to achieve smooth power transmission and adaptive rotation. When the driven gear 450 is driven by the driving gear 460 to rotate, the driven gear shaft 451 will rotate accordingly and transmit this rotation to the mounting plate 520 through the hinge. Since the hinge has certain flexibility and adaptability, it can ensure that during the power transmission process, the mounting plate 520 and the high-torque power wheel 510 can maintain a stable rotation state, while reducing the generation of vibration and noise.

[0069] In some embodiments of the present application, the high torque power unit 500 further includes: a connecting shaft 540; the high torque power wheel 510 is rotationally connected to the mounting plate 520 via the connecting shaft 540, and the high torque power wheel 510 is in contact with the inner wall of the pipeline. Among them, the main function of the connecting shaft 540 is to realize the rotation connection between the high torque power wheel 510 and the mounting plate 520, and to serve as a bridge for power transmission. The connecting shaft 540 transmits the power received by the high torque power wheel 510 to the conveyor belt 530 through rotational motion, thereby realizing further transmission and distribution of power.

[0070] The contact between the large torque power wheel 510 and the inner wall of the pipe mainly utilizes friction to transmit power. When the large torque power wheel 510 is driven to rotate, the friction between its outer edge and the inner wall of the pipe drives the robot to move. This design not only simplifies the structure of power transmission, but also improves the efficiency and stability of power transmission. At the same time, since the large torque power wheel 510 can be designed to have a large diameter and weight, it can store and release a large amount of energy, thereby providing a strong driving force when needed.

[0071] The connecting shaft 540 passes through the mounting plate 520 and is rotationally connected to the mounting plate 520. One end of the connecting shaft 540 is fixedly connected to the high-torque power wheel 510, and the other end is provided with a conveyor belt 530. One end of the conveyor belt 530 is sleeved on the connecting shaft 540, and the other end is sleeved on the driven gear shaft 451.

[0072] The main function of the conveyor belt 530 is to further transfer the power transmitted on the connecting shaft 540 to the driven gear shaft 451. When the high-torque power wheel 510 rotates, the power is transmitted to the conveyor belt 530 through the connecting shaft 540, and then the conveyor belt 530 transmits the power to the driven gear shaft 451. This design not only realizes the continuous transmission and distribution of power, but also reduces the generation of vibration and noise through the flexible connection of the conveyor belt. At the same time, the conveyor belt 530 also has a certain buffering and regulating effect, which can absorb and disperse part of the impact force and improve the stability and durability of the entire robot.

[0073] In some embodiments of the present application, the number of the driven gear 450 and the number of the high-torque power unit 500 are both four.

[0074] Specifically, the use of four driven gears 450 can disperse the transmission load, so that each gear bears a more uniform force, thereby reducing gear wear and failure caused by excessive load. At the same time, the four high-torque power units 500 can provide a more stable and continuous power output. In addition, the provision of multiple driven gears 450 and high-torque power units 500 means that even if one or several units fail, the other units can still continue to work, ensuring the continuous operation of the robot.

[0075] Secondly, through the meshing of the four driven gears 450, the speed and torque of power transmission can be adjusted more accurately to meet the needs under different working conditions. The coordinated work of the four high-torque power units 500 can distribute power more flexibly, ensuring that each part can obtain sufficient driving force. In some complex or harsh working environments, such as high temperature, high pressure, high humidity, etc., the setting of multiple driven gears 450 and high-torque power units 500 can disperse risks, improve the adaptability and durability of the robot, help improve transmission efficiency, reduce energy consumption, improve the response speed and accuracy of the robot, and make the entire robot more flexible and efficient.

[0076] In some embodiments of the present application, the sealing unit 200 includes: a sealing leather cup 210 and an end cover 220, and the end cover 220 is provided with a turbine air inlet 221; the sealing leather cup 210 is coaxial with the end cover 220, the sealing leather cup 210 is wrapped around the outer contour of the end cover 220, and the outer contour of the sealing leather cup 210 contacts the inner wall of the pipe.

[0077] Specifically, the sealing cup 210 is a flexible sealing element, which is usually made of rubber, silicone or other elastic materials. The main function of the sealing cup 210 is to provide a sealing effect to prevent gas or liquid from leaking from the gap between the end cover 220 and the inner wall of the pipeline. When the sealing unit 200 is placed in the pipeline, the outer contour of the sealing cup 210 is in close contact with the inner wall of the pipeline to form an effective sealing barrier. This design ensures that the gas or liquid at the turbine inlet 221 can enter smoothly without leakage, thereby improving the efficiency and performance of the robot.

[0078] The end cap 220 is a fixed part of the sealing unit 200, and its main function is to serve as a support and connection structure for the sealing unit 200. On the one hand, it provides a stable installation base for the sealing cup 210, and on the other hand, it introduces gas or liquid into the robot through the turbine air inlet 221. The design of the end cap 220 also takes into account compatibility with pipes or other connecting parts to ensure that the sealing unit 200 can be firmly installed in the desired position and maintain long-term stability and reliability.

[0079] The turbine air inlet 221 can be designed to be circular or rectangular to meet different fluid flow requirements. The turbine air inlet 221 is connected to the inside of the pipeline, so that gas or liquid can smoothly pass through the sealing unit 200 and enter the turbocharger unit 300.

[0080] In some embodiments of the present application, the turbine-driven in-pipe walking robot also includes a leakage regulating valve 600; a leakage port 222 is also provided on the end cover 220, and the leakage regulating valve 600 is fixed on the leakage port 222, and the leakage regulating valve 600 is configured to control the switch of the leakage port 222.

[0081] The discharge regulating valve 600 is a valve device capable of adjusting flow rate and can accurately control the flow of fluid. It is fixed on the discharge port 222 and controls the opening and closing degree of the discharge port 222 through an internal regulating mechanism (such as a valve core, a valve seat and a spring, etc.).

[0082] In the application of turbine-driven in-pipe walking robots, the discharge regulating valve 600 can adjust the flow entering the turbocharger unit 300 as needed, so as to adjust the speed and motion state of the robot. For example, when the robot needs to perform a speed reduction test in the pipeline, the discharge port 222 can be fully opened to reduce the difference between the fluid flow rate in the turbine-driven in-pipe walking robot and the fluid flow rate in the pipeline, thereby improving the stability and operation accuracy of the robot. The robot can rely on the fluid speed to achieve adaptive adjustment and provide stable movement from low speed to moderate speed. In a low-flow pipeline, the robot can slowly advance through turbine energy storage; in a high-flow pipeline, low-speed cruising can be achieved.

[0083] In some embodiments of the present application, the turbine-driven pipeline walking robot also includes a magnetic leakage detector, which is fixed on the end cover 220. The magnetic leakage detector is communicated with the leakage regulating valve 600, and the magnetic leakage detector is configured to control the opening and closing degree of the leakage regulating valve 600.

[0084] The magnetic flux leakage detector is an advanced non-destructive testing device that uses the principle of magnetic field to detect defects, corrosion or wall thickness changes in metal pipes or equipment. In the application of the turbine-driven pipeline walking robot, the magnetic flux leakage detector is fixed on the end cover 220 to detect the situation inside the pipeline in real time during the robot's walking process.

[0085] The main function of the magnetic flux leakage detector is to detect defects or abnormal conditions inside the pipeline in real time, and at the same time control the opening and closing degree of the leakage regulating valve 600. The magnetic flux leakage detector can be set to realize automatic control. For example, when the magnetic flux leakage detector finds defects (such as cracks, corrosion pits, etc.) inside the pipeline, it will send a signal to the leakage regulating valve 600 to instruct it to adjust the opening and closing degree to change the fluid state inside the robot to adjust the robot speed. This design not only improves the detection accuracy and efficiency of the robot, but also enables the robot to actively adjust the motion state according to the detection results, thereby improving the safety and reliability of the detection.

[0086] In some embodiments of the present application, a pulling joint 223 is provided on the end cap 220, and the pulling joint 223 is used to connect the magnetic flux leakage detector. The pulling joint 223 is a specially designed connector, fixed on the end cap 220, and has a connection interface that matches the magnetic flux leakage detector. The pulling joint 223 can be made of high-strength, corrosion-resistant materials to ensure long-term stability and reliability even in harsh pipeline environments.

[0087] The main function of the pulling joint 223 is to connect the magnetic flux leakage detector and the end cover 220 to achieve a stable connection between the two. Through the pulling joint 223, the magnetic flux leakage detector can be firmly fixed on the end cover, avoiding the problem of falling off or shifting due to factors such as vibration and impact during the robot's walking or detection process. At the same time, the pulling joint 223 can also provide the necessary electrical and signal connections to ensure that the magnetic flux leakage detector can work normally and transmit the detection data in real time. It can be understood that the turbine-driven pipeline walking robot in the embodiment of the present application is suitable for all types of pipelines with fluid media, including new pipelines and old pipelines. It can stop at the circumferential weld to detect the welding quality. At the same time, different non-destructive testing sensors can also be carried to achieve accurate detection of the pipeline. Therefore, through the design of the pulling joint 223, the robot has a detachable nature, and the magnetic flux leakage detector can be separated from the robot body, which is convenient for replacing other detection sensors.

[0088] According to the above content, the sealing leather cup 210 of the turbine-driven pipeline walking robot of the present application is fastened to the end cover 220 and is in sealing contact with the inner wall of the pipeline, so that the fluid at the rear end of the robot can only pass through the turbine air inlet 221 and the drain port 222 of the end cover 220 to pass through the robot body. The drain port 222 is connected to the drain regulating valve 600, and the flow rate of the fluid entering the turbocharger unit 300 is controlled by the opening of the drain regulating valve 600. Because the inner diameter of the fluid inlet channel 310 is much smaller than the inner diameter of the pipeline, the flow rate in the turbocharger unit 300 is much greater than the flow rate of the pipeline body. The high-speed fluid drives the driving turbine 330 to rotate at a high speed. The rotation of the driving turbine 330 is decelerated and torque is increased through the energy storage deceleration unit 400, and then transmitted to the high-torque power wheel 510 through the conveyor belt 530, driving the robot forward.

[0089] When the leakage regulating valve 600 is opened, the fluid at the rear end of the robot can partially pass through the leakage port 222, thereby reducing the fluid flow of the turbocharger unit 300, and controlling the rotation speed of the drive turbine 330, so that the robot can control the running speed and ensure low-speed cruising in a high-flow pipeline. The leakage regulating valve 600 can be fully opened, fully closed, or set to a fixed opening according to the actual working conditions of the pipeline and the speed requirements of the robot, and can also be connected to the control system of the magnetic leakage detector pulled by the rear end of the robot to adjust the opening according to the real-time speed of the robot.

[0090] The turbine-driven pipeline walking robot of the present application effectively improves the driving ability through the turbine structure, overcomes the problem of insufficient power of traditional robots, and only relies on the fluid power in the pipeline, without the need for batteries or external power supply, reducing maintenance costs. At the same time, it automatically adjusts according to the fluid flow rate to ensure the stability of the driving speed. And through the energy storage deceleration design, the drive wheel is driven to output a large torque, thereby solving the problem of insufficient driving force and driving the leakage magnetic detector to move forward. By providing a discharge structure and a deceleration unit design, the robot's operating speed can be controlled, and the robot can also be guaranteed to operate stably at a low speed in a high-flow pipeline.

[0091] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the disclosure of the specification and the examples. This application is intended to cover any modifications, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure.

Claims

1. A turbine-driven pipeline walking robot, characterized in that: include: Support skeleton (100); A sealing unit (200), the sealing unit (200) being fixed to one end of the supporting frame (100), the outer contour of the sealing unit (200) being in contact with the inner wall of the pipeline, and the sealing unit (200) being provided with a turbine air inlet (221); A turbocharger unit (300), the turbocharger unit (300) being arranged inside the support frame (100), the turbocharger unit (300) comprising a fluid inlet channel (310), a fluid discharge channel (320) and a sealed cavity (340); One end of the fluid inlet channel (310) is in communication with the turbine air inlet (221), and the other end is in communication with the sealed cavity (340); one end of the fluid discharge channel (320) is in communication with the sealed cavity (340), and the other end is an open end; The diameters of the fluid inlet channel (310) and the fluid discharge channel (320) are both smaller than half of the diameter of the pipe; A driving turbine (330) is provided in the sealed cavity (340), and a blade surface of the driving turbine (330) intersects with the flow direction of the fluid in the fluid inlet channel (310) and the fluid discharge channel (320); The turbocharger unit (300) further comprises a turbine output shaft (350), wherein the turbine output shaft (350) is fixed on the axis of the driving turbine (330), and one end of the turbine output shaft (350) passes through the sealing cavity (340); An energy storage and deceleration unit (400), the energy storage and deceleration unit (400) being fixed on the support frame (100) and arranged on a side of the turbocharger unit (300) away from the sealing unit (200), the energy storage and deceleration unit (400) being in driving connection with the driving turbine (330); The energy storage deceleration unit (400) comprises: a driving pulley (410), a transmission belt (420), a driven pulley (430) and a harmonic reducer (440); The driving pulley (410) is fixed on the turbine output shaft (350); one end of the transmission belt (420) is sleeved on the driving pulley (410) and the other end is sleeved on the driven pulley (430); the driven pulley (430) is fixedly connected to the input shaft of the harmonic reducer (440); and the harmonic reducer (440) is fixed on the support frame (100); A high-torque power unit (500), one end of the high-torque power unit (500) is rotationally connected to the energy storage deceleration unit (400), and the other end is in contact with the inner wall of the pipeline.

2. The turbine-driven in-pipe walking robot according to claim 1, characterized in that: The turbocharger unit (300) further comprises: a driving gear (460) and a driven gear (450); The driving gear (460) is arranged on a side of the harmonic reducer (440) away from the driven pulley (430), and a driving gear shaft (461) is provided on the driving gear (460), and the driving gear shaft (461) is fixedly connected to an output shaft of the harmonic reducer (440); The driving gear (460) is meshed with a driven gear (450), the driven gear (450) is provided with a driven gear shaft (451), and the driven gear shaft (451) is rotatably connected to the support frame (100); The driven gear (450) is rotationally connected to one end of the high-torque power unit (500) via the driven gear shaft (451).

3. The turbine-driven in-pipe walking robot according to claim 2, characterized in that: The high-torque power unit (500) comprises: a mounting plate (520), wherein the mounting plate (520) is fixed on the supporting frame (100); One end of the mounting plate (520) is hinged to the driven gear shaft (451), and the other end is provided with a high-torque power wheel (510), and the high-torque power wheel (510) is rotatably connected to the mounting plate (520).

4. The turbine-driven in-pipe walking robot according to claim 3, characterized in that: The high-torque power unit (500) further comprises: a connecting shaft (540); The high-torque power wheel (510) is rotationally connected to the mounting plate (520) via the connecting shaft (540), and the high-torque power wheel (510) is in contact with the inner wall of the pipeline; The connecting shaft (540) passes through the mounting plate (520) and is rotationally connected to the mounting plate (520); one end of the connecting shaft (540) is fixedly connected to the high-torque power wheel (510), and the other end is provided with a conveyor belt (530); One end of the conveyor belt (530) is sleeved on the connecting shaft (540), and the other end is sleeved on the driven gear shaft (451).

5. A turbine-driven in-pipe walking robot according to any one of claims 2 to 4, characterized in that: The number of the driven gear (450) and the number of the high-torque power unit (500) are both four.

6. The turbine-driven in-pipe walking robot according to claim 1, characterized in that: The sealing unit (200) comprises: a sealing leather cup (210) and an end cover (220); the end cover (220) is provided with the turbine air inlet (221); The sealing leather cup (210) is coaxial with the end cover (220), the sealing leather cup (210) is wrapped around the outer contour of the end cover (220), and the outer contour of the sealing leather cup (210) is in contact with the inner wall of the pipe.

7. The turbine-driven in-pipe walking robot according to claim 6, characterized in that: Also includes a discharge regulating valve (600); The end cover (220) is also provided with a flow leakage port (222), the flow leakage regulating valve (600) is fixed on the flow leakage port (222), and the flow leakage regulating valve (600) is configured to control the opening and closing of the flow leakage port (222).

8. The turbine-driven in-pipe walking robot according to claim 7, characterized in that: It also includes a magnetic flux leakage detector, which is fixed on the end cover (220), the magnetic flux leakage detector is communicatively connected to the leakage flow regulating valve (600), and the magnetic flux leakage detector is configured to control the opening and closing degree of the leakage flow regulating valve (600).

9. The turbine-driven in-pipe walking robot according to claim 8, characterized in that: The end cover (220) is provided with a pulling joint (223), and the pulling joint (223) is used to connect the magnetic flux leakage detector.

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