Joint walking device and pipeline inspection and cleaning robot

Abstract

The invention provides a joint walking device and a pipeline inspection and cleaning robot. The problems that in the prior art, complex pipeline inspection and cleaning waste water resources, cleaning is not thorough, and time and labor are consumed are solved. The joint walking device comprises at least one joint structure and more than two roller sets, every two roller sets are connected through the joint structures, and each roller set comprises two roller structures and a driving shaft connected with the roller structures. The joint structure comprises a joint shell, a roller driving assembly arranged at the end of the joint shell and a joint driving assembly, and the roller driving assembly is connected with the driving shaft of one roller set, drives the driving shaft to rotate and drives the roller sets to rotate. The joint driving assembly drives the joint shell to rotate around the driving shaft of the other roller set, and the joint walking device is driven to present different walking postures.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline troubleshooting, and in particular to a joint walking device and a pipeline inspection and cleaning robot. Background Art

[0002] Metal pipes are the main carriers for the transmission of various media. During long-term operation, pipe wall corrosion will occur, resulting in wall thickness reduction, cracks, pitting and even leakage. Impurities will adhere to the inner wall, resulting in reduced transmission efficiency, medium accumulation and blockage, and foreign matter will appear inside the pipe. These problems will directly affect the safe and stable operation and production efficiency of production equipment, and may even cause downtime and cause serious economic losses. Therefore, regular inspections and maintenance are required to ensure the safety of the pipelines. However, there are many types of pipelines with different categories, especially narrow diameters and complex structures of spatial pipelines, which are often difficult to be effectively repaired and inspected manually.

[0003] Taking the water supply and drainage pipeline of the nuclear power base pool as an example, it is an important part of the nuclear power facility. During its operation, it will inevitably be attacked by various impurities, microorganisms, corrosion products and other pollutants, which will cause defects such as thinning and cracks, and the formation of scale, corrosion products, hard scale and other fouling and foreign matter inside, which seriously affects the safe and stable operation of the unit. However, there are many problems with the current pipeline inspection and cleaning methods. During the inspection and cleaning process, it is necessary to isolate the main pipe section section by section, and then empty, fill, and flush each isolation section with a large flow rate. This method is not only cumbersome to operate, but also time-consuming and labor-intensive, which greatly affects the cleaning efficiency. In addition, despite the large-flow flushing, due to the complex structure of the inner wall of the pipeline, pollutants are easy to remain in dead corners and gaps, resulting in incomplete cleaning. These residual pollutants may form new hidden dangers under long-term accumulation, posing a potential threat to the safe operation of nuclear power facilities. Therefore, it is urgent to explore a more efficient, water-saving and thorough pipeline inner wall cleaning method to improve the operation and maintenance level and safety assurance capability of the nuclear power base.

[0004] To address the above problems, endoscopes are often used to inspect internal corrosion, cracks, thinning, foreign matter, etc. When foreign matter is present, it is cleaned manually after cutting the pipe. However, when using an endoscope to inspect pipes with complex structures, the endoscope cannot remotely control the direction of travel and has poor accessibility. The inspection and foreign matter cleaning of water supply and drainage pipelines in nuclear power bases involves a lot of climbing and confined space operations, long operation time, poor accessibility, high labor intensity, high risk, low cleaning efficiency, poor inspection and foreign matter cleaning effects, and affects the maintenance cycle.

[0005] Therefore, in order to solve the problems of isolating the isolated main pipe section section by section, emptying, filling, and flushing with a large flow rate during the current pipeline cleaning method, thereby wasting water resources, incomplete cleaning, and consuming a lot of time and effort, and to facilitate the inspection and cleaning of pipelines with complex spatial directions, a pipeline inspection robot is needed to overcome the above-mentioned complex working conditions, replace manual labor to perform the inspection and cleaning of spatial pipelines, and improve work efficiency and safety. Summary of the invention

[0006] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide an articulated walking device and a pipeline inspection and cleaning robot to solve the problems in the prior art of complex pipeline inspection and cleaning that waste water resources, are not thorough, and are time-consuming and labor-intensive.

[0007] In order to solve the above technical problems, the present invention provides a joint walking device, comprising: at least one joint structure and more than two roller groups, wherein the roller groups are connected to each other through the joint structure, each of the roller groups comprises two roller structures and a driving shaft connected to the roller structures, the joint structure comprises a joint housing, a roller driving assembly arranged at the end of the joint housing, and a joint driving assembly, wherein the roller driving assembly is connected to the driving shaft of one of the roller groups, drives the driving shaft to rotate, and drives the roller group to rotate, the joint driving assembly drives the joint housing to rotate around the driving shaft of the other roller group, and drives the joint walking device to present different walking postures.

[0008] As a more preferred solution, through holes for the drive shaft to pass through are provided at both ends of the joint housing, and the drive shaft passes through the through hole at one end of a joint housing and the through hole at the other end of another adjacent joint housing respectively.

[0009] As a more preferred solution, a spherical bearing is sleeved on the driving shaft, and the driving shaft passes through the through hole and is connected to the corresponding joint housing through the spherical bearing.

[0010] As a more preferred solution, the roller drive assembly includes a roller drive motor fixed in the joint housing, a driving gear arranged on the transmission shaft of the roller drive motor, and a passive gear sleeved on the drive shaft and meshing with the driving gear. The roller drive motor drives the drive shaft to rotate via the driving gear.

[0011] As a more preferred solution, the joint drive assembly includes a joint drive motor sleeved on the drive shaft and a joint drive flange connected to the joint drive motor, and the joint drive flange is fixed to one end corresponding to the joint housing.

[0012] As a more preferred solution, the joint walking device also includes a joint connection assembly, and the ends of adjacent joint shells arranged on the same drive shaft are connected through the joint connection assembly, and the joint fixing assembly includes a joint fixing part mounted on the joint drive motor and a fixing flange arranged at one end of the joint fixing part, and the fixing flange is fixed to another adjacent shutdown shell.

[0013] As a more preferred solution, the roller structure includes a universal wheel bracket arranged at the end of the driving shaft and a plurality of universal wheels arranged on the universal wheel bracket. The driving shaft drives the universal wheel bracket to rotate, and the joint walking device is simultaneously realized by the universal wheels. The plurality of universal wheels can be fitted with the inner wall of the pipe in multiple directions and effectively press the inner wall of the pipe, thereby realizing stable walking and rotating along the circumference of the pipe.

[0014] In order to solve the above problems, the present invention also provides a pipeline inspection and cleaning robot, comprising:

[0015] The above-mentioned joint walking device;

[0016] The working structure is arranged at one end of the joint walking device, and the working structure is connected to the joint walking device through the joint structure, and the working structure is driven to rotate through the joint structure.

[0017] As a more preferred solution, the operating structure includes a pitch assembly, a rotating assembly arranged on the pitch assembly, a brush head assembly arranged on the rotating assembly, and an image acquisition assembly. The operating angles of the brush head assembly and the image acquisition assembly are adjusted by the pitch assembly and the rotating assembly.

[0018] As a more preferred solution, the pipeline inspection and cleaning robot also includes two hemispherical wheels arranged opposite to each other at the other end of the joint walking device, and the two hemispherical wheels are connected to the joint walking device through the joint structure. The hemispherical wheels, in conjunction with the joint walking device, achieve high obstacle adaptability in all planar directions.

[0019] As described above, the joint walking device and pipeline inspection and cleaning robot of the present invention have the following beneficial effects: when the joint walking device of the present invention is in use, the roller driving assembly is used to drive the driving shaft to rotate, and the roller group is driven to rotate, so as to realize the walking of the joint walking device. At the same time, the joint driving assembly is used to drive the joint housing to rotate around the driving shaft of another roller group, so as to drive the joint walking device to present different walking postures. Specifically, the joint driving assembly is used to drive the joint housing to be in a horizontal position, at which time the distance between each roller group is the largest, and the joint walking device is in an extended state. In this state, each roller group can contact the ground, and more abundant driving force can be provided; the joint driving assembly is used to drive the joint housing to tilt at a certain angle, and the roller assembly in the middle is lifted up, at which time the joint walking device is in a contracted state, and the overall size of the joint walking device is reduced, so that it is more suitable for passing through some complex pipelines that are difficult to pass, such as elbows, tees, butterfly valves, etc.; at the same time, through the coordinated extension and contraction of each joint, the ability to move in all directions in a certain range of variable diameter pipelines, vertical and horizontal pipelines and trenches is realized, and the risk of jamming and damage during walking is reduced;

[0020] The pipeline inspection and cleaning robot of the present invention utilizes the joint walking device to walk in various pipelines, and utilizes the working structure to perform corresponding operations inside the pipelines, such as image acquisition and pipe wall cleaning, thereby achieving risk elimination inside complex pipelines and improving the stability and safety of pipeline operation; compared with the traditional solution of flushing with a large amount of water, it saves more water resources and human resources;

[0021] The articulated walking device and pipeline inspection and cleaning robot of the present invention, through a joint structure connected to a roller group and capable of freely rotating, realize that the pipeline inspection and cleaning robot can adaptively extend and deform and adjust its posture under different pipeline working conditions, thereby completing the passage through various complex pipelines; and during the passage, the corresponding operating structure is utilized to perform necessary maintenance on the pipeline, thereby solving the problems in the prior art of waste of water resources, incomplete cleaning, and high time and labor consumption in complex pipeline inspection and cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It shows a schematic diagram of the extended state of the joint walking device and the pipeline inspection and cleaning robot of the present invention;

[0023] Figure 2 A cross-sectional schematic diagram showing the extended state of the joint walking device and the pipeline inspection and cleaning robot of the present invention;

[0024] Figure 3 Shown is a schematic diagram of a roller drive assembly of the joint walking device and the pipeline inspection and cleaning robot of the present invention;

[0025] Figure 4 Shown is a schematic diagram of a joint driving assembly of a joint walking device and a pipeline inspection and cleaning robot of the present invention;

[0026] Figure 5 It shows a schematic diagram of the articulated walking device and the pipeline inspection and cleaning robot of the present invention walking in a pipeline in a contracted state.

[0027] Component number description

[0028] 1 Joint structure

[0029] 11 Joint housing

[0030] 12 Roller drive assembly

[0031] 121 Roller drive motor

[0032] 122 driving gear

[0033] 123 Passive gear

[0034] 13 Joint drive assembly

[0035] 131 Joint drive motor

[0036] 132 Joint drive flange

[0037] 2 Roller Set

[0038] 21 Roller structure

[0039] 211 Universal wheel bracket

[0040] 212 Universal wheel

[0041] 22 Drive shaft

[0042] 221 Spherical plain bearings

[0043] 3 Joint connection components

[0044] 31 Joint Fixation Parts

[0045] 32 Fixed flange

[0046] 33 Connecting bearing

[0047] 34 V-ring

[0048] 4. Assignment Structure

[0049] 41 Pitch assembly

[0050] 42 Rotating assembly

[0051] 43 Brush head assembly

[0052] 431 Telescopic rod

[0053] 432 Customized Brush Head

[0054] 44 Image acquisition component

[0055] 5 Hemispherical wheels

[0056] 51 Hemispherical wheel bearing

[0057] 52 Connecting rod shaft

[0058] 53 Hemispherical wheel attitude adjustment motor

[0059] 54 Hemispherical wheel drive shaft

[0060] 55 Drive shaft limit bearing

[0061] 6 Circuit board

[0062] 7 Outlet Module

[0063] 71 Control cable DETAILED DESCRIPTION

[0064] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0065] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification, so that people familiar with this technology can understand and read them, and are not used to limit the limiting conditions that the present invention can implement, so they have no technical substantive significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope of the technical content disclosed by the present invention. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., can be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0066] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0067] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless there is an indication to the contrary in the context. It should be further understood that the terms "comprise", "include" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition will only occur when the combination of elements, functions or operations is inherently mutually exclusive in some way.

[0068] like Figures 1 to 5 As shown, the present invention provides a joint walking device, comprising: at least one joint structure 1 and more than two roller groups 2, wherein the roller groups 2 are connected to each other through the joint structure 1, each of the roller groups 2 comprises two roller structures 21 and a driving shaft 22 connected to the roller structures 21, the joint structure 1 comprises a joint housing 11, a roller driving assembly 12 arranged at the end of the joint housing 11, and a joint driving assembly 13, wherein the roller driving assembly 12 is connected to the driving shaft 22 of one of the roller groups 2, drives the driving shaft 22 to rotate, and drives the roller group 2 to rotate, the joint driving assembly 13 drives the joint housing 11 to rotate around the driving shaft 22 of the other roller group 2, and drives the joint walking device to present different walking postures.

[0069] In order to better introduce the joint walking device of the present invention, it is now explained in combination with the following specific applications: when the joint walking device of the present invention is in use, the roller driving assembly 12 is used to drive the driving shaft 22 to rotate, and drive the roller group 2 to rotate, so as to realize the walking of the joint walking device. At the same time, the joint driving assembly 13 is used to drive the joint housing 11 to rotate around the driving shaft 22 of another roller group 2, so as to drive the joint walking device to present different walking postures. Specifically, the joint driving assembly 13 is used to drive the joint housing 11 to be in a horizontal position. At this time, the distance between each roller group 2 is the largest, and the joint walking device is in In the extended state, each roller group 2 can be in contact with the ground, which can provide more abundant driving force; the joint driving assembly 13 is used to drive the joint housing 11 to tilt at a certain angle, and lift up the middle roller group 2. At this time, the joint walking device is in a contracted state, and the overall size of the joint walking device is reduced. At this time, it is more suitable for passing through some complex pipelines that are difficult to pass, such as elbows, tees, butterfly valves, etc.; at the same time, through the coordinated expansion and contraction of each joint, the ability to move in all directions in a certain range of variable-diameter pipelines, vertical and horizontal pipelines and trenches is achieved, and the risk of jamming and damage during walking is reduced.

[0070] In some embodiments of the present invention, Figure 1 as well as Figure 2 As shown, the joint walking device includes four roller groups 2 and three joint structures 1 connecting the roller groups 2, wherein the joint structure 1 connecting the two front roller groups 2 and the two rear roller groups 2 includes a roller drive assembly 12 and a joint drive assembly 13 respectively arranged at both ends of the joint shell 11; the joint structure 1 connecting the two middle roller groups 2 includes two roller drive assemblies 12 respectively arranged at both ends of the joint shell 11. This symmetrical arrangement around the center of the joint walking device can ensure that the joint walking device is more stable during walking.

[0071] In some embodiments of the present invention, Figure 1 as well as Figure 2 As shown, through holes for the drive shaft 22 to pass through are arranged at both ends of the joint housing 11 , and the drive shaft 22 passes through the through hole at one end of a joint housing 11 and the through hole at the other end of another adjacent joint housing 11 .

[0072] In some embodiments of the present invention, Figure 2 as well as Figure 3 As shown, a joint bearing 221 is sleeved on the driving shaft 22 , and the driving shaft 22 passes through the through hole and is connected to the corresponding joint housing 11 through the joint bearing 221 .

[0073] In some embodiments of the present invention, Figure 2 as well as Figure 3As shown, the roller drive assembly 12 includes a roller drive motor 121 fixed in the joint housing 11, a driving gear 122 arranged on the transmission shaft of the roller drive motor 121, and a passive gear 123 sleeved on the drive shaft 22 and meshing with the driving gear 122. The roller drive motor 121 drives the drive shaft 22 to rotate through the driving gear 122.

[0074] In some embodiments of the present invention, Figure 4 As shown, the joint drive assembly 13 includes a joint drive motor 131 mounted on the drive shaft 22 and a joint drive flange 132 connected to the joint drive motor 131, and the joint drive flange 132 is fixed to one end corresponding to the joint housing 11; further, in this embodiment, the joint drive motor 131 adopts a hollow shaft motor to allow the drive shaft 22 to pass through.

[0075] In some embodiments of the present invention, Figure 4 As shown, the joint walking device also includes a joint connection component 3, and the ends of adjacent joint housings 11 arranged on the same drive shaft 22 are connected through the joint connection component 3, and the joint fixing component includes a joint fixing part 31 sleeved on the joint drive motor 131, and a fixing flange 32 arranged at one end of the joint fixing part 31, and the fixing flange 32 is fixed to another adjacent shutdown housing; further, in this embodiment, the joint connection component 3 also includes a V-ring 34, and the V-ring 34 is arranged between the ends of adjacent joint housings 11 to prevent dust, moisture and impurities thereof from entering the housing or any other required area, and at the same time Lubricant is still retained between the ends of the adjacent joint housings 11; in the present embodiment, the joint fixing member 31 is a hollow structure, and the hollow structure is used to accommodate the joint drive motor 131, and is fixed to the joint drive motor 131, so that the joint fixing motor is indirectly fixed to another adjacent shutdown housing; further, in the present embodiment, the joint connection assembly 3 also includes a connecting bearing 33, and the connecting bearing 33 is sleeved on the joint fixing member 31 and abuts against the inner wall of the shutdown housing, and when the joint drive motor 131 drives the joint housing 11 to rotate, relative sliding between the joint fixing member 31 and the joint housing 11 is achieved, thereby reducing friction.

[0076] In some embodiments of the present invention, Figure 3As shown, the roller structure 21 includes a universal wheel bracket 211 arranged at the end of the driving shaft 22 and a plurality of universal wheels 212 arranged on the universal wheel bracket 211. The driving shaft 22 drives the universal wheel bracket 211 to rotate, and the joint walking device is walked through the universal wheels 212. The plurality of universal wheels 212 can be fitted with the inner wall of the pipeline in multiple directions and effectively press the inner wall of the pipeline, thereby achieving stable walking and rotating along the circumferential direction of the pipeline. More specifically, in this embodiment, the universal wheel bracket 211 has a total of Five universal wheels 212 are provided, and the five universal wheels 212 are evenly distributed along the axial direction of the universal wheel bracket 211; further, in the present embodiment, the roller structure 21 includes two universal wheel brackets 211, the universal wheel brackets 211 are staggered and stacked, and five universal wheels 212 are provided on each of the two universal wheel brackets 211, and the ten universal wheels 212 on the outside of each roller structure 21 ensure that when the roller structure 21 rotates in the pipeline, the universal wheel 212 can always fit with the inner wall of the pipeline.

[0077] In order to solve the above problems, the present invention also provides a pipeline inspection and cleaning robot, comprising:

[0078] The above-mentioned joint walking device;

[0079] The working structure 4 is arranged at one end of the joint walking device, and the working structure 4 is connected to the joint walking device through the joint structure 1, and the working structure 4 is driven to rotate through the joint structure 1.

[0080] In order to better introduce the pipeline inspection and cleaning robot of the present invention, it is now explained in combination with the following specific applications. The pipeline inspection and cleaning robot of the present invention utilizes the above-mentioned joint walking device to walk in various pipelines, and utilizes the working structure 4 to perform corresponding operations on the inside of the pipeline, such as image acquisition and pipe wall cleaning, thereby realizing the troubleshooting of the inside of the complex pipeline and improving the stability and safety of the pipeline operation; compared with the traditional solution of using a large amount of water for flushing, it saves more water resources and human resources; it can be seen that the joint walking device and the pipeline inspection and cleaning robot of the present invention, through the joint structure 1 that is connected to the roller group 2 and can rotate freely, realizes that the pipeline inspection and cleaning robot can adaptively stretch and deform and adjust its posture under different pipeline structure working conditions, thereby completing the passage in various complex pipelines; and in the process of passage, the corresponding working structure 4 is used to perform the necessary maintenance on the pipeline, solving the problems of waste of water resources, incomplete cleaning, and high time and labor consumption in the prior art for complex pipeline inspection and cleaning.

[0081] In some embodiments of the present invention, Figure 1 , Figure 2 as well as Figure 5As shown, the working structure 4 includes a pitch component 41, a rotating component 42 arranged on the pitch component 41, a brush head component 43 arranged on the rotating component 42, and an image acquisition component 44. The working angles of the brush head component 43 and the image acquisition component 44 are adjusted by the pitch component 41 and the rotating component 42; wherein the image acquisition component 44 includes lighting, lenses, camera modules, high-speed image acquisition cards and other parts, which can quickly carry out remote and efficient detection inside the pipeline. The camera carried has fill light and low-light visibility functions, and high-brightness LED lighting groups are matched on both sides. The pipeline inspection and cleaning robot can use the image acquisition component 44 to conduct video inspection of the surface conditions such as scale accumulation, cracks, and damage inside the pipeline during operation. The image acquisition component 44 is installed at the front end of the robot, and adopts a wide-angle field of view to ensure that the 360-degree inspection field of the pipeline is covered, greatly optimizing the efficiency of the video inspection operation. The camera adopts a 1080P full HD resolution, connected to the remote monitoring platform industrial computer, and the video image can be displayed and observed through the human-machine operation panel. At the same time, the background monitoring software provides screenshot and video recording functions, and you can choose to record the operation process to the computer hard disk for easy archiving and video export.

[0082] Furthermore, in some embodiments of the present invention, Figure 1 as well as Figure 2 As shown, the brush head assembly 43 also includes a telescopic rod 431 and a customized brush head 432 arranged at one end of the telescopic rod 431. The other end of the telescopic rod 431 is arranged on the rotating assembly 42. When the telescopic rod 431 is extended, the customized brush head 432 is driven to contact the inner side of the pipe wall and clean the inner side of the pipe wall through the rotating assembly 42. When the telescopic rod 431 drives the customized brush head 432 to retract, it can pass through narrow passages such as butterfly valves. It can even use the pitch mechanism to adjust the centering to improve the cleaning effect. The customized brush head 432 is selected and tested to ensure that the noise is controlled within a reasonable range to avoid interference with the surrounding environment and personnel.

[0083] In some embodiments of the present invention, Figure 1 as well as Figure 2As shown, the pipeline inspection and cleaning robot also includes two hemispherical wheels 5 arranged opposite to each other at the other end of the joint walking device, and the two hemispherical wheels 5 are connected to the joint walking device through the joint structure 1. The hemispherical wheels 5 cooperate with the joint walking device to achieve high obstacle adaptability in all planar directions; further, in this embodiment, the two hemispherical wheels 5 are provided with hemispherical wheel bearings 51, which are connected to the corresponding hemispherical wheel bearings 51 through a connecting rod shaft 52 and locked by fixing screws, so that the two hemispherical wheels 5 are connected; wherein a hemispherical wheel posture adjustment motor 53 is provided in the joint structure 1, and the hemispherical wheel driving shaft 5 of the hemispherical wheel posture adjustment motor 53 4 extends out from the end of the joint structure 1 and rotates in the drive shaft limit bearing 55 set on the joint structure 1, and the connecting rod shaft 52 is penetrated in the hemispherical wheel drive shaft 54; the cooperation of the connecting rod shaft 52 and the hemispherical wheel bearing 51 satisfies that the two hemispherical wheels 5 can rotate freely in the direction of travel, and at the same time, the hemispherical wheel posture adjustment motor 53 can drive the hemispherical wheel drive shaft 54 ​​to adjust the posture 360 ​​degrees around the connecting rod shaft 52. The hemispherical wheel posture adjustment motor 53 adopts a high reduction ratio to prevent the hemispherical wheel 5 from rotating around the rolling axis due to the reaction force when moving along the pipeline axis; the gap between the hemispherical wheel drive shaft 54 ​​and the corresponding joint structure 1 is also sealed by a V-ring 34.

[0084] In some embodiments of the present invention, Figure 1 as well as Figure 2 As shown, a circuit substrate 6 is also provided in the joint structure 1 connecting the hemispherical wheel 5 and the joint walking device. The circuit substrate 6 is equipped with a voltage-stabilizing DC converter and a multi-stage voltage conversion circuit integrated with a control circuit, which can not only reduce the line resistance voltage drop during long cable transmission, but also ensure the stable power supply of different voltages required by various functional components of the pipeline inspection and cleaning robot; further, in this embodiment, an outlet module 7 is also provided on the upper part of the joint structure 1, which is used to store all the outlets of the pipeline inspection and cleaning robot, and is connected to an external controller through a control cable 71 to realize the control of the pipeline inspection and cleaning robot.

[0085] In some embodiments of the present invention, an operation example of the pipeline inspection and cleaning robot is as follows: when there is a need for video inspection or foreign matter cleaning inside the pipeline of a nuclear power unit or other operation scene, the pipeline inspection and cleaning robot checks whether the connections of various components are firm before entering the pipeline, marks screws and other components that may be loose, firmly connects the control cable 71 in the outlet module 7 to the remote control system, and tests various functions through the remote control system to ensure that the pipeline inspection and cleaning robot is in good condition; then, the pipeline inspection and cleaning robot is placed inside the pipeline through the pipeline inspection port or valve, and the pipeline inspection and cleaning robot is controlled to move forward through the remote control system. During the forward movement, the image acquisition module is used to observe the internal working conditions of the pipeline from multiple angles and store records; the pipeline inspection and cleaning robot can turn horizontally and vertically in the pipeline to pass through elbows, tees, butterfly valves and other pipeline directions; when the pipeline inspection and cleaning robot reaches the butterfly valve disc, the customized brush head 432 is retracted, and the universal wheel 212 is used to rotate circumferentially to adjust the posture of the pipeline inspection and cleaning robot to the valve disc opening channel. Lift the working structure 4 of the pipeline inspection and cleaning robot and enter the valve disc channel to ensure that the working structure 4 passes through the valve disc channel first, then press the first joint structure 1, and then lift the subsequent joint structures 1 in turn to pass through the valve disc, and finally the pipeline inspection and cleaning robot passes over the valve disc as a whole. When foreign objects that need to be cleaned are found, control the brush head assembly 43, and under the driving adjustment of the pipeline inspection and cleaning robot's movement and steering, position the brush head assembly 43 to the position of the foreign objects to be cleaned, and control the brush head to align and start cleaning through the rotation assembly 42 and the pitch assembly 41; during the cleaning process, the cleaning process is observed in real time through the image acquisition assembly 44 to ensure smooth cleaning operations; when the pipeline inspection and cleaning robot completes the video inspection or foreign object cleaning work, control the image acquisition assembly 44 to return to the normal position, and the pipeline inspection and cleaning robot retreats to the entrance, and at the same time, the external take-up device tightens the cable to avoid affecting the backward walking of the pipeline inspection and cleaning robot; wait for the robot to retreat to the entrance, take out the robot, and complete the on-site operation.

[0086] In summary, the joint walking device and pipeline inspection and cleaning robot of the present invention have the following advantages:

[0087] 1. Multi-degree-of-freedom walking: The design of the joint structure 1 and the roller group 2 enables the device to present different walking postures and adapt to complex pipeline environments.

[0088] 2. Telescopic deformation capability: The position and angle of the joint housing 11 are adjusted through the joint drive assembly 13 to achieve telescopic and posture adjustment of the device to adapt to different pipe sizes.

[0089] 3. All-round movement: Able to move in all directions in vertical and horizontal pipelines and trenches, reducing the risk of jamming and damage.

[0090] 4. Enhanced stability: The central symmetrical arrangement of the joint walking device improves stability during walking.

[0091] 5. Flexible drive connection: The drive shaft 22 is connected to the joint housing 11 through the joint bearing 221, providing a flexible connection method.

[0092] 6. Efficient drive: The roller drive assembly 12 efficiently drives the roller group 2 to rotate through the motor and gear combination.

[0093] 7. Flexible rotation of the joint: The joint drive assembly 13 adopts a hollow shaft motor, so that the drive shaft 22 can pass through, increasing the flexibility of the joint.

[0094] 8. Protection and lubrication: The V-ring 34 in the joint connection assembly 3 prevents the ingress of dust, moisture and impurities, while retaining lubricant to reduce wear.

[0095] 9. Design of universal wheel 212: The universal wheel 212 on the roller structure 21 can fit the inner wall of the pipeline in multiple directions to achieve stable walking.

[0096] 10. Wide adaptability: It can stretch, deform, and adjust its posture under various pipeline structure conditions to complete the passage in complex pipelines.

[0097] 11. Save resources: Compared with traditional flushing solutions, the pipeline inspection and cleaning robot of the present invention saves more water resources and human resources.

[0098] 12. Efficient detection: The image acquisition component 44 can quickly perform remote and efficient detection on the inside of the pipeline, thereby improving detection efficiency.

[0099] 13. Improved cleaning effect: The design of the customized brush head 432 improves the cleaning effect while reducing noise interference.

[0100] 14. Obstacle adaptability: The design of the hemispherical wheels 5 enables the robot to have high obstacle adaptability in all planar directions.

[0101] 15. Stable power supply: The voltage-stabilized DC converter and control circuit on the circuit substrate 6 ensure stable power supply of different voltages required by various functional components.

[0102] 16. Convenient control: The output cable module 7 stores all output cables and is connected to an external controller through a control cable 71, making it easy to control the robot.

[0103] 17. Efficient operation: The pipeline inspection and cleaning robot can turn horizontally and vertically in the pipeline and pass through complex pipeline structures to complete video inspection or foreign body cleaning work.

[0104] In summary, the articulated walking device and pipeline inspection and cleaning robot of the present invention can flexibly move and operate in a complex pipeline environment through their unique design, thereby improving the efficiency and effect of pipeline inspection and cleaning, while reducing operating costs and resource consumption. Therefore, the present invention effectively overcomes the various shortcomings in the prior art and has a high industrial utilization value. The above embodiments are only illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with this technology may modify or change the above embodiments without violating the spirit and scope of the present invention. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. A joint walking device, characterized in that: include: At least one joint structure (1) and more than two roller groups (2), wherein the roller groups (2) are connected to each other through the joint structure (1), each roller group (2) comprises two roller structures (21) and a driving shaft (22) connected to the roller structures (21), the joint structure (1) comprises a joint housing (11), a roller driving assembly (12) arranged at the end of the joint housing (11), and a joint driving assembly (13), wherein the roller driving assembly (12) is connected to the driving shaft (22) of one of the roller groups (2), drives the driving shaft (22) to rotate, and drives the roller group (2) to rotate, and the joint driving assembly (13) drives the joint housing (11) to rotate around the driving shaft (22) of another roller group (2), thereby driving the joint walking device to present different walking postures.

2. The joint walking device according to claim 1, characterized in that: Through holes for the drive shaft (22) to pass through are arranged at both ends of the joint housing (11), and the drive shaft (22) respectively passes through the through hole at one end of a joint housing (11) and the through hole at the other end of another adjacent joint housing (11).

3. The joint walking device according to claim 2, characterized in that: A joint bearing (221) is sleeved on the driving shaft (22); the driving shaft (22) passes through the through hole and is connected to the corresponding joint housing (11) via the joint bearing (221).

4. The joint walking device according to claim 2, characterized in that: The roller drive assembly (12) comprises a roller drive motor (121) fixed in the joint housing (11), a driving gear (122) arranged on the transmission shaft of the roller drive motor (121), and a driven gear (123) sleeved on the drive shaft (22) and meshing with the driving gear (122); the roller drive motor (121) drives the drive shaft (22) to rotate via the driving gear (122).

5. The joint walking device according to claim 4, characterized in that: The joint drive assembly (13) comprises a joint drive motor (131) sleeved on a drive shaft (22) and a joint drive flange (132) connected to the joint drive motor (131); the joint drive flange (132) is fixed to one end corresponding to the joint housing (11).

6. The joint walking device according to claim 5, characterized in that: The joint walking device also includes a joint connection assembly (3), and the ends of adjacent joint housings (11) arranged on the same drive shaft (22) are connected via the joint connection assembly (3). The joint fixing assembly includes a joint fixing member (31) sleeved on the joint drive motor (131), and a fixing flange (32) arranged at one end of the joint fixing member (31), and the fixing flange (32) is fixed to another adjacent joint housing.

7. The joint walking device according to claim 1, characterized in that: The roller structure (21) comprises a universal wheel bracket (211) arranged at the end of the driving shaft (22) and a plurality of universal wheels (212) arranged on the universal wheel bracket (211); the driving shaft (22) drives the universal wheel bracket (211) to rotate, and the joint walking device is enabled to walk through the universal wheels (212).

8. A pipeline inspection and cleaning robot, characterized in that: include: The joint walking device according to any one of claims 1 to 7; An operating structure (4) is arranged at one end of the joint walking device, wherein the operating structure (4) is connected to the joint walking device via the joint structure (1), and the operating structure (4) is driven to rotate via the joint structure (1).

9. The pipeline inspection and cleaning robot according to claim 8, characterized in that: The operating structure (4) comprises a pitch assembly (41), a rotating assembly (42) arranged on the pitch assembly (41), a brush head assembly (43) and an image acquisition assembly (44) arranged on the rotating assembly (42); the operating angles of the brush head assembly (43) and the image acquisition assembly (44) are adjusted by the pitch assembly (41) and the rotating assembly (42).

10. The pipeline inspection and cleaning robot according to claim 8, characterized in that: The pipeline inspection and cleaning robot further comprises two hemispherical wheels (5) arranged opposite to each other at the other end of the joint walking device, and the two hemispherical wheels (5) are connected to the joint walking device via the joint structure (1).

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