Surveying and mapping robot for pipeline contour intelligent surveying and mapping

Abstract

The invention relates to the technical field of surveying and mapping robots, in particular to a surveying and mapping robot for pipeline contour intelligent surveying and mapping. Comprising a main shaft, a detection plate, a detection device, a driving assembly, a detection probe, a first hydraulic cylinder, a second hydraulic cylinder, a bearing plate and climbing claws, according to the invention, the following problems in the intelligent surveying and mapping process of the pipeline contour in the prior art can be solved: a vertical pipeline cannot be surveyed and mapped, and the application range is relatively small; in the detection process, dirt cannot be removed, the detection precision is low, and a real pipeline contour cannot be detected; the device can ascend and descend in a vertical pipeline, and the adaptability and flexibility of the device are greatly improved; the device can adapt to changes of the inner wall of the pipeline, and tight adsorption is achieved; dirt on the inner wall of the pipeline can be removed in the moving process through the scraping plate, so that the real outline of the pipeline is mapped, and the mapping precision and accuracy are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of surveying and mapping robots, and in particular to a surveying and mapping robot for intelligent surveying and mapping of pipeline contours. Background Art

[0002] Pipeline contour intelligent mapping robots are widely used in surveying and mapping work in the fields of oil and gas pipelines, urban water supply and drainage systems, chemical pipelines, power cable pipelines, etc. However, some existing pipeline mapping robots are difficult to survey in complex pipeline systems, such as underground pipelines, overhead pipelines and other difficult-to-reach locations, and cannot guarantee high-precision measurement results. They cannot move upward when encountering some vertical pipelines, and underground pipelines usually have accumulated sludge, which can easily affect the surveying and mapping results during the surveying process.

[0003] However, ordinary surveying and mapping robots usually have some problems in daily use. With the development of science and technology, technicians in related fields have also made a lot of optimizations on surveying and mapping robots to solve some problems that different consumer groups are concerned about. In order to make a more accurate comparison, a Chinese patent with publication number CN108533881A discloses an underground pipeline surveying and mapping robot; it includes: a robot body, a cable car electrically connected to the robot body, and a control terminal; the robot body is used to collect and transmit data to the control terminal, and execute movement instructions issued by the control terminal; the cable car is used to realize the controllable movement of the robot body; the control terminal is used to receive data collected by the robot body and issue instructions to control the movement of the robot.

[0004] When in use, the walking module can realize the function of moving the underground pipeline surveying and mapping robot; the robot can realize functions such as moving forward, backward, turning, climbing and overcoming obstacles. The robot walks in the underground pipeline to realize underground pipeline detection and mapping.

[0005] However, the above existing technologies for mapping pipeline contours have some shortcomings in actual use:

[0006] 1. Various types of pipelines may be encountered during pipeline mapping. For example, some pipelines may bend upward. When the above-mentioned prior art encounters a vertical pipeline during pipeline mapping, it cannot climb upward through the walking module, and thus cannot map the vertical pipeline. Its scope of application is relatively small.

[0007] 2. During pipeline mapping, many pipelines will form some dirt due to long-term use. The accumulation of these dirts causes the contour of the inner wall of the pipeline to change. Therefore, during the detection process, these dirts must be removed before the contour of the pipeline can be more accurately mapped. However, the above-mentioned prior art cannot remove the dirt during the mapping process, so its detection accuracy is low and the true pipeline contour cannot be detected.

[0008] Therefore, based on the above-stated viewpoints, there is still room for improvement in the existing pipeline profile mapping methods. Summary of the invention

[0009] In order to solve the above problems, the present invention provides a surveying robot for intelligent mapping of pipeline contours, wherein the two main shafts are hinged to each other through a universal joint, and the two main shafts include two main shafts, the outer walls of the two main shafts are each provided with a detection plate, the outer wall of the detection plate is installed with a detection device, and drive components are installed on the back sides of the two main shafts.

[0010] The detection device comprises a plurality of detection probes installed on the outer wall of the detection plate, and the plurality of detection probes are equidistantly distributed along the circumferential direction of the axis of the detection plate.

[0011] The driving assembly includes a first hydraulic cylinder and a second hydraulic cylinder installed on the opposite sides of the two detection plates. The telescopic ends of the first hydraulic cylinder and the second hydraulic cylinder are both connected to a bearing plate. The outer wall of the bearing plate is hinged with multiple groups of climbing claws, and the multiple groups of climbing claws are equidistantly distributed along the circumference of the outer wall of the bearing plate.

[0012] Preferably, the two supporting plates are connected to each other with linkage rings on opposite sides via a plurality of connecting rods, and a third hydraulic cylinder is installed between the main shaft and the detection plate on the side close to the first hydraulic cylinder.

[0013] Preferably, the climbing claw comprises a plurality of support rods evenly installed on the outer wall of the linkage ring in the circumferential direction, a swing rod is hingedly connected to the side of the support rod away from the linkage ring, a plurality of transmission rods corresponding to the positions of the support rods are hingedly connected to the outer wall of the bearing plate, and the transmission rod is hingedly connected to one end of the swing rod on the side away from the bearing plate.

[0014] Preferably, a spring rod is hinged on the side of the swing rod away from the transmission rod, a cross rod is installed on the side of the spring rod away from the swing rod, and a strong suction cup is installed on the side of the cross rod away from the spring rod.

[0015] Preferably, two L-shaped rods are symmetrically installed along the length direction of the cross bar near the transmission rod side, and support rods are hinged at both ends of the length direction of the cross bar. The support rod is rotatably connected to the side away from the cross bar with a detection wheel, and an extrusion spring is connected between the horizontal section of the L-shaped rod and the support rod.

[0016] Preferably, the outer wall of the detection plate is installed with multiple sleeves distributed equidistantly around the circumference, the detection probe slides in the sleeve, a reset spring is connected between the bottom of the detection probe and the inner bottom wall of the sleeve, and a ball is installed on the side of the detection probe away from the reset spring.

[0017] Preferably, a scraper for scraping sludge in the pipeline is installed on the side of the support rod away from the L-shaped rod.

[0018] Preferably, a controller is installed on any one of the detection boards, and the controller is electrically connected to the multiple detection probes, and the controller is electrically connected to the detection probes, the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder.

[0019] In summary, this application includes the following beneficial technical effects:

[0020] 1. The present invention can stably move forward and backward inside the pipeline and can rise and fall in the vertical pipeline through the coordinated work of the first hydraulic cylinder, the second hydraulic cylinder and the third hydraulic cylinder. The use of the universal connector allows adaptive deflection between the two main axes, further improving the adaptability and flexibility of the device in complex pipeline environments.

[0021] 2. The present invention can adapt to the changes of the inner wall of the pipeline through the cooperation of the strong suction cup, the spring rod and the swing rod, realize tight adsorption, and ensure the stable movement of the device inside the pipeline. When encountering a bend in the pipeline, the axial direction of the strong suction cup can be adjusted through the linkage of the support rod and the cross plate to ensure that it can continue to adsorb and move at the bend in the pipeline.

[0022] 3. The present invention can remove dirt on the inner wall of the pipeline during movement through the scraper to avoid dirt accumulation, so that the detection probe can map the true contour of the pipeline when passing through the inner wall of the pipeline, greatly improving the mapping precision and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a first structural schematic diagram of the driving assembly of the present invention.

[0026] Figure 3 It is a second structural schematic diagram of the driving assembly of the present invention.

[0027] Figure 4 The present invention Figure 3 A partial enlarged view of point A.

[0028] Figure 5It is a schematic structural diagram of the detection device of the present invention.

[0029] Figure 6 It is a schematic diagram of the structure between the detection board and the detection probe of the present invention.

[0030] Figure 7 It is a schematic diagram of the structure between the surveying roller, the transmission gear and the linkage gear ring of the present invention.

[0031] Figure 8 The present invention Figure 7 A partial enlarged view of point B.

[0032] Fig. 9 This is a schematic diagram of the structure between the detection probe and the sleeve of the present invention.

[0033] In the figure: 1, spindle; 2, detection plate; 3, detection device; 31, detection probe; 32, sleeve; 33, reset spring; 34, ball; 35, scraper; 36, controller; 4, drive assembly; 41, first hydraulic cylinder; 42, second hydraulic cylinder; 43, bearing plate; 44, climbing claw; 441, connecting rod; 45, linkage ring; 46, third hydraulic cylinder; 47, support rod; 48, swing rod; 49, transmission rod; 50, spring rod; 51, cross bar; 52, strong suction cup; 53, L-shaped Rod; 54, bracket rod; 55, detection wheel; 56, extrusion spring; 61, annular groove; 62, load-bearing ring; 63, bracket plate; 64, linkage shaft; 65, rotating shaft bracket; 66, surveying roller; 67, connecting shaft; 68, first bevel gear; 69, vertical plate; 70, transmission shaft; 71, second bevel gear; 72, transmission gear; 73, linkage gear ring; 81, sliding groove; 82, support block; 83, bidirectional threaded screw; 84, electrode sheet; 85, knob; 86, trigger plate; 87, telescopic rod. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-Figure 9 Embodiments of the present invention are described in detail.

[0035] The embodiment of the present application discloses a surveying robot for intelligent surveying of pipeline contours. It should be noted that the surveying robot of the present application is mainly used in the process of intelligent surveying of pipeline contours. In terms of technical effects, it can stably move forward and backward inside the pipeline, and can rise and fall in a vertical pipeline; in particular, when encountering a bend in the pipeline during the surveying process, the strong suction cup 52 can be adjusted through the linkage of the support rod 54 and the cross plate to ensure that it can continue to adsorb and move at the bend in the pipeline; further, the scraper 35 can be used to clean the dirt on the inner wall of the pipeline during the movement to avoid dirt accumulation, so that the detection probe 31 can map the true contour of the pipeline when passing through the inner wall of the pipeline, thereby greatly improving the surveying precision and accuracy.

[0036] Embodiment 1:

[0037] Reference Figure 1 As shown, a surveying robot for intelligent surveying of pipeline contours comprises two main shafts 1, which are hinged to each other through a universal joint, the outer walls of the two main shafts 1 are sleeved with a detection plate 2, the outer walls of the detection plate 2 are installed with a detection device 3, and the two main shafts 1 are installed with a driving assembly 4 on the opposite sides; the detection device 3 comprises a plurality of detection probes 31 installed on the outer walls of the detection plate 2, and the plurality of detection probes 31 are equidistantly distributed along the circumferential direction of the axis of the detection plate 2; the driving assembly 4 comprises a first hydraulic cylinder 41 and a second hydraulic cylinder 42 installed on the opposite sides of the two detection plates 2, the telescopic ends of the first hydraulic cylinder 41 and the second hydraulic cylinder 42 are connected to a bearing plate 43 on the opposite sides, the outer wall of the bearing plate 43 is hinged with a plurality of climbing claws 44, and the plurality of climbing claws 44 are equidistantly distributed along the circumference of the outer wall of the bearing plate 43.

[0038] In the specific implementation process, the device is first placed in the pipeline to be inspected, so that the first hydraulic cylinder 41 enters the interior of the pipeline first, and then the first hydraulic cylinder 41 and the second hydraulic cylinder 42 are started, and the first hydraulic cylinder 41 drives the multiple climbing claws 44 on the same side to open, so that the climbing claws 44 on one side of the first hydraulic cylinder 41 are adsorbed on the inner wall of the pipeline, and at the same time, the second hydraulic cylinder 42 drives the multiple climbing claws 44 to shrink and enter the interior of the pipeline; then the second hydraulic cylinder 42 drives the multiple climbing claws 44 on the same side to open and adsorb the interior of the pipeline, and at the same time, the first hydraulic cylinder 41 drives the multiple climbing claws 44 on the same side to shrink and move to the interior of the pipeline, so that the climbing claws 44 on the side of the first hydraulic cylinder 41 stop adsorbing the inner wall of the pipeline, so that the above steps are repeated in conjunction with the driving component 4 to enable the device to continue to move into the pipeline; during the movement, the end of the detection probe 31 is always in contact with the inner wall of the pipeline and the contour of the pipeline is mapped.

[0039] Reference Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, in order to adapt to complex pipeline environments and improve the scope of application, based on this, in this embodiment, the two bearing plates 43 are connected to the linkage ring 45 on the opposite sides through multiple connecting rods 441, and a third hydraulic cylinder 46 is installed between the main shaft 1 and the detection plate 2 close to the first hydraulic cylinder 41. The climbing claw 44 includes a plurality of support rods 47 uniformly installed on the outer wall of the linkage ring 45 in the circumferential direction, and the support rod 47 is hinged with a swing rod 48 on the side away from the linkage ring 45. The outer wall of the bearing plate 43 is hinged with multiple transmission rods 49 corresponding to the position of the support rods 47, and the transmission rods 49 are away from the bearing plate 43. One side of the carrier plate 43 is hinged to one end of the swing rod 48, a spring rod 50 is hinged to the side of the swing rod 48 away from the transmission rod 49, a cross bar 51 is installed on the side of the spring rod 50 away from the swing rod 48, a strong suction cup 52 is installed on the side of the cross bar 51 away from the spring rod 50, two L-shaped rods 53 are symmetrically installed along the length direction of the cross bar 51 close to the transmission rod 49, both ends of the cross bar 51 in the length direction are hinged with support rods 54, the support rod 54 is rotatably connected to the side away from the cross bar 51 with a detection wheel 55, and an extrusion spring 56 is connected between the horizontal section of the L-shaped rod 53 and the support rod 54.

[0040] It should be noted that the extrusion spring 56 always applies elastic force to the bracket rod 54, and the bracket rod 54 rotates toward the side away from the L-shaped rod 53 under the action of the elastic force, so that the bracket rod 54 drives the detection wheel 55 to always fit the inner wall of the pipe, and the axis of the strong suction cup 52 is always perpendicular to the inner wall of the pipe.

[0041] In the specific implementation process, the telescopic end of the first hydraulic cylinder 41 contracts and drives the bearing plate 43 on the same side thereof to move toward the side close to the main shaft 1. At the same time, the bearing plate 43 drives multiple transmission rods 49 connected thereto to move synchronously. Since the linkage ring 45 is in a fixed state under the action of the climbing claw 44, the transmission rod 49 pulls the swing rod 48 during the movement, so that the hinge between the swing rod 48 and the support rod 47 rotates. The swing rod 48 moves away from the transmission rod 49 to the side away from the main shaft 1, and drives the spring rod 50, the cross bar 51 and the strong suction cup 52 to move synchronously. At the same time, the swing rod The end of 48 away from the transmission rod 49 gradually moves toward the side close to the inner wall of the pipe during the movement, so that the strong suction cup 52 is attached to and adsorbed on the inner wall of the pipe, the spring rod 50 shrinks under the squeezing of the swing rod 48, and the two support rods 54 rotate at the hinge with the cross rod 51. The detection wheel 55 moves away from the strong suction cup 52 under the squeezing of the support rod 54, so as to be fixed by the strong suction cup 52; then the telescopic end of the third hydraulic cylinder 46 shrinks, driving the main shaft 1, the detection plate 2 and the climbing claw 44 away from the side of the first hydraulic cylinder 41 to move synchronously toward the side close to the first hydraulic cylinder 41.

[0042] The second hydraulic cylinder 42 is started, and the telescopic end of the second hydraulic cylinder 42 contracts and drives the bearing plate 43 on the same side thereof to move toward the side close to the main shaft 1. The bearing plate 43 drives the spring rod 50, the cross rod 51 and the strong suction cup 52 to move synchronously away from the main shaft 1 through the support rod 47, the swing rod 48 and the transmission rod 49, and drives the strong suction cup 52 to be adsorbed on the inner wall of the pipe. Then, the telescopic end of the first hydraulic cylinder 41 is telescopic and drives the bearing plate 43 on the same side thereof to move toward the side away from the main shaft 1. At the same time, the bearing plate 43 drives multiple transmission rods 49 connected thereto to move synchronously, and the transmission rod 49 pulls the swing rod 49 during the movement. 8 rotates toward the side close to the main shaft 1, and drives the spring rod 50, the cross bar 51 and the strong suction cup 52 to move toward the side away from the inner wall of the pipe. The spring rod 50 adaptively retracts and contracts, so that the strong suction cup 52 is separated from the inner wall of the pipe; the telescopic end of the third hydraulic cylinder 46 retracts and contracts, and because the strong suction cup 52 on the side of the second hydraulic cylinder 42 is adsorbed on the inner wall of the pipe, the telescopic end of the third hydraulic cylinder 46 drives the main shaft 1, the detection plate 2 and the climbing claw 44 on the side of the first hydraulic cylinder 41 to move toward the inside of the pipe. Repeating the above steps can drive the detection plate 2 and the detection probe 31 to continuously move toward the inside of the pipe, and the pipeline contour can be mapped by the detection probe 31.

[0043] When the strong suction cup 52 approaches the inner wall of the pipe, the support rod 54 rotates at the hinge with the cross bar 51, and the detection wheel 55 rotates and expands to the side away from the strong suction cup 52, and the extrusion spring 56 stretches adaptively, thereby preventing the spring rod 50 and the swing rod 48 from rotating at the hinge when the cross bar 51 drives the strong suction cup 52 to move close to the inner wall of the pipe, and the strong suction cup 52 cannot be tightly adsorbed on the inner wall of the pipe when adsorbing it, further improving the adsorption effect of the strong suction cup 52; when the strong suction cup 52 moves away from the inner wall of the pipe, the extrusion spring 56 shrinks adaptively and pulls the support rod 54, and the end of the support rod 54 away from the strong suction cup 52 moves toward the side close to the inner wall of the pipe, so that the detection wheel 55 always fits with the inner wall of the pipe, so that when encountering a bend in the pipe, the detection wheel 55 moves along the pipe The pipe rolls at the bend, and the spring rod 50 and the swing rod 48 are driven to rotate at the hinge through the bracket rod 54 and the cross plate, so that the axis of the strong suction cup 52 is always perpendicular to the inner wall of the pipe, and can continue to adsorb the inner wall of the pipe bend to continue to move into the pipe; in addition, in the process of passing through the bend, the universal connector between the two main shafts 1 is adaptively deflected, so as to realize the contour mapping of the pipe with a bend, and further, through the cooperation between the strong suction cup 52 and the first hydraulic cylinder 41, the second hydraulic cylinder 42 and the third hydraulic cylinder 46, the device can be lifted vertically, so as to map the contour of the vertical pipe, and the adsorption of the strong suction cup 52 can prevent it from falling during the upward movement along the pipe, which greatly improves the scope of use of the device.

[0044] Reference Figure 1 and Figure 5As shown, in order to accurately detect the pipeline contour, based on this, in this embodiment, a plurality of circumferentially equidistantly distributed sleeves 32 are installed on the outer wall of the detection plate 2, and the detection probe 31 is located in the sleeve 32 and slides. A reset spring 33 is connected between the bottom of the detection probe 31 and the inner bottom wall of the sleeve 32, and a ball 34 is installed on the side of the detection probe 31 away from the reset spring 33. A scraper 35 for scraping sludge in the pipeline is installed on the side of the bracket rod 54 away from the L-shaped rod 53. A controller 36 is installed on any detection plate 2, and the controller 36 is electrically connected to the plurality of detection probes 31, and the controller 36 is electrically connected to the detection probe 31, the first hydraulic cylinder 41, the second hydraulic cylinder 42 and the third hydraulic cylinder 46.

[0045] It should be noted that the return spring 33 always applies an elastic force to the detection probe 31 toward the inner wall of the pipeline, so that the detection probe 31 always fits against the inner wall of the pipeline.

[0046] In the specific implementation process, the controller 36 controls the extension and retraction of the first hydraulic cylinder 41, the second hydraulic cylinder 42 and the third hydraulic cylinder 46. During the movement, the detection probe 31 is always in contact with the inner wall of the pipe under the action of the reset spring 33, and the ball 34 rolls freely. When the diameter of the pipe is reduced, the ball 34 can overcome the obstacle and the detection probe 31 moves toward the inside of the sleeve 32, and the reset spring 33 shrinks adaptively; when the diameter of the pipe increases, the detection probe 31 moves toward the inner wall of the pipe under the push of the reset spring 33, and transmits a signal to the controller 36 through an electrical connection, thereby mapping the contour of the pipe; in addition, during the movement of the support rod 54, the support rod 54 drives the scraper 35 to move synchronously, so that the scraper 35 scrapes the dirt on the inner wall of the pipe, thereby avoiding dirt accumulation, and the detection probe 31 cannot map the true contour of the pipe when passing by.

[0047] Embodiment 2:

[0048] Reference Figure 6 , Figure 7 and Figure 8As shown, on the basis of Example 1, in order to make the pipeline contour mapping result more accurate, based on this, in this embodiment, an annular groove 61 is opened on the outer wall of the detection plate 2, and a carrying ring 62 is rotatably connected in the annular groove 61. A plurality of sleeves 32 are equidistantly distributed on the circumference of the outer wall of the carrying ring 62, and two groups of bracket plates 63 are symmetrically installed on the outer wall of the carrying ring 62 along the sleeve 32. Each group of bracket plates 63 has two, and a linkage shaft 64 is rotatably connected between the two bracket plates 63 on the same side of the sleeve 32. A rotating shaft bracket 65 is installed at the end of the detection probe 31 away from the detection plate 2, and a surveying roller 66 is rotatably connected to the rotating shaft bracket 65. The roller 66 is rotatably connected to the rotating shaft bracket 65 through the connecting shaft 67, and the connecting shaft 67 is connected to the linkage shaft 64 through a belt transmission. A first bevel gear 68 is sleeved on the outer wall of the linkage shaft 64 away from the sleeve 32. Two vertical plates 69 are symmetrically installed on the outer wall of the load-bearing ring 62 along the sleeve 32. A transmission shaft 70 is rotatably connected between the two vertical plates 69. A second bevel gear 71 meshing with the first bevel gear 68 is sleeved on the outer wall of the transmission shaft 70. The transmission shaft 70 is located on the outer walls of the two vertical plates 69 on the opposite sides, and transmission gears 72 are sleeved on both sides. The outer wall of the detection plate 2 is sleeved with two linkage gear rings 73 meshing with the transmission gear 72.

[0049] It should be noted that the return spring 33 always applies an elastic force to the detection probe 31 toward the side close to the inner wall of the pipe, so that the surveying roller 66 is always in contact with the inner wall of the pipe. In addition, the connecting shaft 67 and the linkage shaft 64 are connected by an elastic belt, so that the detection probe 31 can be adaptively extended and retracted during the extension and retraction process without causing belt transmission failure.

[0050] During the specific implementation process, when the robot moves, the surveying roller 66 rubs against the inner wall of the pipeline and rotates, and the surveying roller 66 drives the connecting shaft 67 to rotate. The connecting shaft 67 drives the linkage shaft 64 and the first bevel gear 68 to rotate through the belt drive. The first bevel gear 68 drives the second bevel gear 71 and the transmission shaft 70 to rotate. The transmission shaft 70 drives the two transmission gears 72 to rotate. During the rotation of the two transmission gears 72, they cooperate with the linkage gear ring 73, thereby driving the bearing ring 62 to rotate. The bearing ring 62 drives the surveying roller 66 to rotate circumferentially, so that the surveying roller 66 can rotate circumferentially while moving along the axis of the pipeline, thereby increasing the surveying area, making the surveying result more accurate, avoiding the inability to fully survey the pipeline contour due to always surveying along the axis of the pipeline, and greatly improving the accuracy.

[0051] Embodiment three:

[0052] Reference Fig. 9As shown, on the basis of Example 2, in order to be able to adjust the detection probe 31 according to different mapping requirements during the pipeline mapping process, based on this, in this embodiment, a sliding groove 81 is opened on the outer wall of the sleeve 32, and two support blocks 82 are installed on the outer wall of the sleeve 32, which are symmetrically distributed up and down along the sliding groove 81. A bidirectional threaded screw 83 is connected and rotated together between the two support blocks 82. The outer wall of the bidirectional threaded screw 83 is sleeved with two electrode sheets 84 that slide in the sliding groove 81. The two electrode sheets 84 are connected to the bidirectional threaded screw 83 by threads. A knob 85 is installed on the upper end of the bidirectional threaded screw 83. A trigger plate 86 located between the two electrode sheets 84 is installed at the bottom of the detection probe 31, and an adjustable telescopic rod 87 is installed at the upper end of the detection probe 31.

[0053] It should be noted that during the rotation of the bidirectional threaded screw 83, the two electrode sheets 84 cannot rotate due to the limitation of the sliding groove 81, so that the two electrode sheets 84 can move toward or away from each other according to the rotation direction of the bidirectional threaded screw 83, so that the distance between the two electrode sheets 84 can be adjusted, thereby adjusting the detection range of the detection probe 31.

[0054] In the specific implementation process, before surveying the pipeline, the telescopic rod 87 is first adjusted so that the distance between the end of the detection probe 31 and the axis of the detection plate 2 is equal to the radius of the pipeline. During the adjustment process, the elastic belt is adaptively extended and retracted, and then the knob 85 is turned according to the required surveying accuracy. When the accuracy needs to be improved, the knob 85 is turned counterclockwise, and the knob 85 drives the bidirectional threaded screw 83 to rotate. The two electrode sheets 84 move toward each other under the limit of the sliding groove 81, and the distance between the two electrode sheets 84 becomes smaller. Therefore, when the detection probe 31 moves in the pipeline, if there is a protrusion or pit inside the pipeline, the detection probe 31 slides along the sleeve 32 under the elastic force of the reset spring 33 or the extrusion of the pipeline, so that the detection probe 31 The trigger plate 86 at the bottom touches any electrode sheet 84, so that the electrode sheet 84 transmits a signal to the controller 36 through an electrical connection, and the change in the internal contour of the pipeline is obtained; when the accuracy needs to be reduced, the knob 85 is turned clockwise, and the knob 85 drives the bidirectional threaded screw 83 to rotate, and the two electrode sheets 84 move back to back under the limit of the sliding groove 81, and the distance between the two electrode sheets 84 becomes larger. When the detection probe 31 slides along the sleeve 32 and its sliding distance is large, the trigger plate 86 at the bottom of the detection probe 31 touches any electrode sheet 84, and the electrode sheet 84 transmits a signal to the controller 36 through an electrical connection, thereby realizing the adjustment of the pipeline contour mapping accuracy, which can be adjusted according to different mapping requirements and has a wider range of uses.

[0055] When working: Step 1: First place the device in the pipeline that needs to be tested.

[0056] Step 2: The extension and retraction of the first hydraulic cylinder 41, the second hydraulic cylinder 42 and the third hydraulic cylinder 46 are controlled by the controller 36. During the movement, the detection probe 31 is always in contact with the inner wall of the pipe under the action of the reset spring 33, and the ball 34 rolls freely. When the diameter of the pipe is reduced, the ball 34 can overcome the obstacle and the detection probe 31 moves toward the inside of the sleeve 32, and the reset spring 33 shrinks adaptively; when the diameter of the pipe increases, the detection probe 31 moves toward the inner wall of the pipe under the push of the reset spring 33, and transmits a signal to the controller 36 through an electrical connection, thereby mapping the contour of the pipe; in addition, during the movement of the support rod 54, the support rod 54 drives the scraper 35 to move synchronously, so that the scraper 35 scrapes the dirt on the inner wall of the pipe, thereby avoiding dirt accumulation, and the detection probe 31 cannot map the true contour of the pipe when passing by.

[0057] Step 3: The telescopic end of the first hydraulic cylinder 41 contracts and drives the bearing plate 43 on the same side thereof to move toward the side close to the main shaft 1. At the same time, the bearing plate 43 drives a plurality of transmission rods 49 connected thereto to move synchronously. During the movement of the transmission rod 49, the swing rod 48 is pulled, so that the hinge between the swing rod 48 and the support rod 47 rotates. The end of the swing rod 48 away from the transmission rod 49 moves toward the side away from the main shaft 1, and drives the spring rod 50, the cross bar 51 and the strong suction cup 52 to move synchronously. At the same time, the end of the swing rod 48 away from the transmission rod 49 is in the process of moving. The strong suction cup 52 gradually moves toward the side close to the inner wall of the pipe, so that the strong suction cup 52 is attached to and adsorbed on the inner wall of the pipe, the spring rod 50 contracts under the squeezing of the swing rod 48, the two support rods 54 rotate at the hinge with the cross rod 51, and the detection wheel 55 moves toward the side away from the strong suction cup 52 under the squeezing of the support rod 54, so as to be fixed by the strong suction cup 52; then the telescopic end of the third hydraulic cylinder 46 contracts, driving the main shaft 1, the detection plate 2 and the climbing claw 44 away from the side of the first hydraulic cylinder 41 to move synchronously toward the side close to the first hydraulic cylinder 41.

[0058] Step 4: Start the second hydraulic cylinder 42. The telescopic end of the second hydraulic cylinder 42 contracts and drives the bearing plate 43 on the same side thereof to move toward the side close to the main shaft 1. The bearing plate 43 drives the spring rod 50, the cross rod 51 and the strong suction cup 52 to move synchronously away from the main shaft 1 through the support rod 47, the swing rod 48 and the transmission rod 49, and drives the strong suction cup 52 to be adsorbed on the inner wall of the pipe. Then, the telescopic end of the first hydraulic cylinder 41 telescopes and drives the bearing plate 43 on the same side thereof to move toward the side away from the main shaft 1. At the same time, the bearing plate 43 drives multiple transmission rods 49 connected thereto to move synchronously. During the movement of the transmission rod 49, the swing rod 48 rotates toward the side close to the main shaft 1, and drives the spring rod 50, the cross bar 51 and the strong suction cup 52 to move toward the side away from the inner wall of the pipe. The spring rod 50 adaptively retracts and contracts, so that the strong suction cup 52 is separated from the inner wall of the pipe; the telescopic end of the third hydraulic cylinder 46 retracts and contracts, and because the strong suction cup 52 on the side of the second hydraulic cylinder 42 is adsorbed on the inner wall of the pipe, the telescopic end of the third hydraulic cylinder 46 drives the main shaft 1, the detection plate 2 and the climbing claw 44 on the side of the first hydraulic cylinder 41 to move toward the inside of the pipe. Repeating the above steps can drive the detection plate 2 and the detection probe 31 to continuously move toward the inside of the pipe, and the pipeline contour can be mapped by the detection probe 31.

[0059] Step 5: When the strong suction cup 52 moves toward the inner wall of the pipe, the support rod 54 rotates at the hinge with the cross bar 51, and the detection wheel 55 moves away from the strong suction cup 52. The extrusion spring 56 stretches adaptively, thereby preventing the spring rod 50 and the swing rod 48 from rotating at the hinge when the cross bar 51 drives the strong suction cup 52 to move toward the inner wall of the pipe, so that the strong suction cup 52 deflects and cannot be tightly adsorbed on the inner wall of the pipe, further improving the suction effect of the strong suction cup 52; when the strong suction cup 52 moves toward the inner wall of the principle pipe, the extrusion spring 56 stretches adaptively. The support rod 54 should be retracted and pulled, and the support rod 54 moves away from one end of the strong suction cup 52 toward the side close to the inner wall of the pipe, so that the detection wheel 55 is always in contact with the inner wall of the pipe. When encountering a bend in the pipe, the detection wheel 55 rolls along the bend in the pipe, and drives the spring rod 50 and the swing rod 48 to rotate at the hinge through the support rod 54 and the cross plate, so that the axis of the strong suction cup 52 is always perpendicular to the inner wall of the pipe, and can continue to absorb the inner wall of the bend in the pipe and continue to move into the pipe. In addition, in the process of passing through the bend, the universal connector between the two main shafts 1 is adaptively deflected.

[0060] Step 6: During the movement of the robot, the surveying roller 66 rotates due to friction with the inner wall of the pipeline, and the surveying roller 66 drives the connecting shaft 67 to rotate. The connecting shaft 67 drives the linkage shaft 64 and the first bevel gear 68 to rotate through the belt drive. The first bevel gear 68 drives the second bevel gear 71 and the transmission shaft 70 to rotate. The transmission shaft 70 drives the two transmission gears 72 to rotate. The two transmission gears 72 cooperate with the linkage gear ring 73 during rotation, thereby driving the bearing ring 62 to rotate. The bearing ring 62 drives the surveying roller 66 to rotate circumferentially, so that the surveying roller 66 can rotate circumferentially while moving along the axis of the pipeline, thereby increasing the surveying area, making the surveying result more accurate, avoiding the inability to fully survey the pipeline contour due to always surveying along the axis of the pipeline, and greatly improving the accuracy.

[0061] Step 7: Before surveying the pipeline, first adjust the telescopic rod 87 so that the distance between the end of the detection probe 31 and the axis of the detection plate 2 is equal to the radius of the pipeline. During the adjustment process, the elastic belt is adaptively extended and retracted, and then the knob 85 is turned according to the required surveying accuracy. The knob 85 drives the bidirectional threaded screw 83 to rotate, and the two electrode sheets 84 move along the sliding groove 81 under the limit of the sliding groove 81, and the distance between the two electrode sheets 84 changes; when the detection probe 31 moves in the pipeline, if there are protrusions or pits inside the pipeline, the detection probe 31 slides along the sleeve 32 under the elastic force of the reset spring 33 or the extrusion of the pipeline, and the trigger plate 86 at the bottom of the detection probe 31 touches any electrode sheet 84, so that the electrode sheet 84 transmits a signal to the controller 36 through an electrical connection, and the internal contour change of the pipeline is obtained; thereby, the adjustment of the pipeline contour surveying accuracy is achieved, and it can be adjusted according to different surveying requirements, and has a wider range of use.

[0062] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A surveying robot for intelligent surveying of pipeline contours, comprising two main shafts (1), the outer walls of the two main shafts (1) are both provided with detection plates (2), and the characteristics are: The outer wall of the detection plate (2) is provided with a detection device (3), and the two main shafts (1) are provided with drive components (4) on opposite sides thereof, and the two main shafts (1) are gradually hinged to each other through a universal joint; The detection device (3) comprises a plurality of detection probes (31) mounted on the outer wall of the detection plate (2), wherein the plurality of detection probes (31) are equidistantly distributed along the circumferential direction of the axis of the detection plate (2); The driving assembly (4) comprises a first hydraulic cylinder (41) and a second hydraulic cylinder (42) mounted on opposite sides of the two detection plates (2); the telescopic ends of the first hydraulic cylinder (41) and the second hydraulic cylinder (42) are both connected to a bearing plate (43); a plurality of groups of climbing claws (44) are hingedly connected to the outer wall of the bearing plate (43); and the plurality of groups of climbing claws (44) are equidistantly distributed along the circumference of the outer wall of the bearing plate (43).

2. The surveying robot for intelligent surveying of pipeline contours according to claim 1 is characterized in that: The two bearing plates (43) are connected to a linkage ring (45) on opposite sides via a plurality of connecting rods (441), and a third hydraulic cylinder (46) is installed between the main shaft (1) and the detection plate (2) on the side close to the first hydraulic cylinder (41).

3. The surveying robot for intelligent surveying of pipeline contours according to claim 1 is characterized in that: The climbing claw (44) comprises a support rod (47) mounted on the outer wall of the linkage ring (45); a swing rod (48) is hingedly connected to the side of the support rod (47) away from the linkage ring (45); a transmission rod (49) is hingedly connected to the outer wall of the bearing plate (43); and the transmission rod (49) is hingedly connected to one end of the swing rod (48) on the side away from the bearing plate (43).

4. The surveying robot for intelligent surveying of pipeline contours according to claim 3 is characterized in that: A spring rod (50) is hingedly connected to the side of the swing rod (48) away from the transmission rod (49), a cross rod (51) is installed on the side of the spring rod (50) away from the swing rod (48), and a strong suction cup (52) is installed on the side of the cross rod (51) away from the spring rod (50).

5. The surveying robot for intelligent surveying of pipeline contours according to claim 4 is characterized in that: Two L-shaped rods (53) are symmetrically mounted on one side of the cross bar (51) close to the transmission rod (49); support rods (54) are hingedly connected to both ends of the cross bar (51) along the length direction; a detection wheel (55) is rotatably connected to the support rod (54) on the side away from the cross bar (51); and a compression spring (56) is connected between the L-shaped rod (53) and the support rod (54).

6. The surveying robot for intelligent surveying of pipeline contours according to claim 1 is characterized in that: The outer wall of the detection plate (2) is provided with a plurality of sleeves (32) which are equidistantly distributed around the circumference; the detection probe (31) is located in the sleeve (32) and slides; a return spring (33) is connected between the bottom of the detection probe (31) and the inner bottom wall of the sleeve (32); and a ball (34) is provided on the side of the detection probe (31) away from the return spring (33).

7. The surveying robot for intelligent surveying of pipeline contours according to claim 5 is characterized in that: A scraper (35) for scraping sludge in the pipeline is installed on the side of the support rod (54) away from the L-shaped rod (53).

8. The surveying robot for intelligent surveying of pipeline contours according to claim 1 is characterized in that: A controller (36) is installed on any one of the detection plates (2); the controller (36) is electrically connected to the plurality of detection probes (31); and the controller (36) is electrically connected to the first hydraulic cylinder (41), the second hydraulic cylinder (42) and the third hydraulic cylinder (46).

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