Station upright and multi-branch complex pipeline cleaning and detecting robot

Abstract

The invention discloses a station upright and multi-branch complex pipeline cleaning and detecting robot, which relates to the field of station pipeline detection and cleaning, and comprises a driving reducing module, a central control connecting module, a cleaning detection module and a control power module. The driving reducing module achieves the pipe wall adsorption function through an electromagnet, the reducing function is achieved through cooperation of a lead screw and a nut, and the function of changing the included angle between crawler belts is achieved through movement of an electric push rod and a hinged support. The cleaning detection module achieves the pipe wall cleaning function through cooperative work of a water spraying pipe, a cleaning shovel and a rolling brush, and an ultrasonic detection probe and a CCTV camera work in a combined mode to achieve the comprehensive detection function of internal defects of the pipe wall. The pipeline robot has the functions of adapting to pipe diameter changes, walking perpendicular to a pipeline, automatically turning to avoid obstacles, cleaning, detecting and the like in the operation process, and meets the requirements of complex pipeline lines of a station for movement and functions of the robot. Meanwhile, the robot has the characteristics of multiple functions, flexible movement, stable control, high working efficiency and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline operation and maintenance and nondestructive testing, and specifically relates to a station upright and multi-branch complex pipeline cleaning and testing robot. Technical Background

[0002] Pipelines are an important part of natural gas purification plants, natural gas transmission stations, refineries, petrochemical plants, chemical plants and other stations. The station pipeline plays the role of the hub and heart of various fluid materials such as gas, oil and raw materials. Its main functions include pressure regulation, metering, purification, cleaning, pressurization and cooling. However, the aging, corrosion and leakage of the station pipeline seriously affect the normal operation of the pipeline, which makes the inspection and maintenance of the pipeline very important. At the same time, the station pipeline structure is complex in size, including various pipeline components such as elbows, reducers, tees, etc. There are many vertical pipelines in the pipeline, the pipeline diameter is not large, there are many types of sizes, and the pipeline length is short. Traditional pipeline inspection methods mainly rely on manual inspections and spot inspections, but manual inspections have many limitations, such as long time, high cost, low efficiency, etc., and can only perform external inspections, and ordinary pipeline robots are difficult to complete the work. Through research, it was found that the existing related pipeline robots still have the following deficiencies in application:

[0003] (1) Most existing pipeline robots use a connecting rod slider mechanism to change the diameter, which will cause the center of gravity of the robot to change during the diameter change process, and the stability and cornering performance will change.

[0004] (2) Existing pipeline robots have poor adaptability to pipelines. They are prone to sliding down when encountering sloped pipelines such as vertical pipelines, and are prone to getting stuck when passing through deformed parts. They are also difficult to pass through branched pipelines.

[0005] (3) The existing pipeline robots have a single detection method for pipelines, with a high false detection rate; the sticky stains and attached dirt inside the pipelines are difficult to clean.

[0006] Therefore, it is urgently necessary to invent a pipeline robot to efficiently clean and inspect the interior of the upright and multi-branched complex pipelines in the upstream station, so as to ensure the integrity of the production operation pipelines of various stations throughout their life cycle. Summary of the invention

[0007] In order to meet the technical requirements of existing pipeline robots for cleaning and inspection of pipelines, a site upright and multi-branch complex pipeline cleaning and inspection robot is proposed. The robot is equipped with a nut that can move in coordination with the diameters of pipelines with different diameters, uses the adsorption force of an electromagnet to prevent it from sliding down the vertical pipeline, and is equipped with a hinge structure that can rotate to avoid obstacles. It uses two detection tools for precise inspection and flushes and removes stains for efficient cleaning.

[0008] The present invention provides a cleaning and inspection robot for upright and multi-branch complex pipelines at a station, comprising a driving variable diameter module, a central control connection module, a cleaning and inspection module, and a control power module, wherein the driving variable diameter module is installed at the rear end of the central control connection module, the cleaning and inspection module is installed at the front end of the central control connection module, and the control power module is installed at the rear end of the driving variable diameter module.

[0009] The drive variable diameter module comprises four track units, four variable diameter units and a connecting unit, wherein the four track units are respectively connected to the four variable diameter units, and the four variable diameter units are all connected to the connecting unit.

[0010] The track unit includes a motor fixing plate I, a track shoe fixing seat, an electromagnet fixing plate, a track shoe, a guide wheel, a track, a support wheel, an electromagnet, a motor I, and a driving wheel; the variable diameter unit includes a motor II, a guide rod I, a support seat, a track connecting plate, a guide rod II, a nut seat, a nut, a lead screw, and a coupling; the connecting unit includes a hinge support seat I, an electric push rod, a hinge support seat II, a rear motor seat, a V-shaped connecting plate, and a motor seat connecting plate; wherein the two track shoes are respectively fixedly connected to the front end face and the rear end face of the track shoe fixing seat, the guide wheel is installed at the left end of the track shoe, and the driving wheel is installed at the right end of the track shoe The electromagnet fixing plate is fixedly connected to the middle part of the track shoe by bolts. There are four support wheels, which are installed in pairs on both sides of the electromagnet fixing plate of the track shoe. The inner side of the track is meshed with the guide wheel, the driving wheel and the support wheel. The motor fixing plate I is fixedly connected to the right end of the electromagnet fixing plate by screws. The motor I is installed on the motor fixing plate I. The output end of the motor I is connected to the driving wheel through a pair of bevel gears. There are three electromagnets, which are horizontally equidistantly distributed in the track. There are threaded connection holes I on the electromagnets, which are fixedly connected to the left, middle and right ends of the electromagnet fixing plate by screws. There are two track shoes, which are fixedly connected to the track shoe fixing seats respectively. On the front and rear end surfaces, there are two guide rods II, which pass through the through holes of the support seat respectively. The upper end is connected to the track connecting plate, and the lower end is connected to the nut seat. The support seat is located between the track connecting plate and the nut seat. Bearings are installed on the support seat and the rear motor seat. The upper and lower ends of the lead screw are connected to the bearings on the support seat and the rear motor seat respectively. The nut is fixedly connected to the nut seat by screws, and the nut cooperates with the lead screw. There are two guide rods I, which pass through the through holes of the nut seat on the left and right respectively. The upper end is fixedly connected to the support seat, and the lower end is fixedly connected to the rear motor seat. The nut seat is located between the support seat and the rear motor seat. The upper end of the coupling is connected to the lower end of the lead screw The motor II is mounted on the rear motor seat by screws. The rear motor seats are arranged in four rings. Among the two adjacent rear motor seats, one is fixed to the motor seat connecting plate by a V-shaped connecting plate, and the other is connected to the hinge support II. The rear motor seats in relative positions are arranged in the same way. Each rear motor seat is connected to a reducing unit. A hinge support I is fixed between adjacent support seats by screws. Hinge supports III are provided at both ends of the electric push rod and are connected to hinge support I by pins. Hinge support II is fixedly connected to the rear motor seat by screws. A frustum is provided on the front end surface of the motor seat connecting plate and is connected to hinge support II.

[0011] The central control connection module includes: a circuit board, an umbilical cable, a circuit board mounting seat, a camera mounting seat, a CCTV camera, a rotating joint, a front cover, a motor fixing plate II, a motor III, and a connecting seat; wherein, the circuit board is mounted on the left end inside the circuit board mounting seat, the umbilical cable is wrapped with cables and water pipes inside, the umbilical cable passes through the circuit board until the left end of the connecting seat is connected to the side tube on the rotating joint, the rotating joint is provided with a rotating shaft tube, the rotating joint is fixedly mounted on the left end of the connecting seat partition, the right end of the connecting seat is fixedly connected to the left end of the circuit board mounting seat, and the left end is fixedly connected to the front cover, there are two CCTV cameras, the front end of which is provided with a lens and a lighting lamp bead, which is fixedly connected to the camera fixing seat by screws, there are two camera fixing seats, which are respectively mounted on the upper and lower end surfaces of the connecting seat, and the motor III is mounted on the right end of the internal partition of the connecting seat.

[0012] The cleaning detection module includes a cleaning nozzle, a cleaning shovel, a cleaning roller brush, an ultrasonic detection probe, a cleaning mounting plate, a bellows, a telescopic rod group, and a telescopic rod connecting seat; wherein the cleaning nozzle, the cleaning shovel, and the cleaning roller brush are installed on the front end surface of the cleaning mounting plate from left to right, two ultrasonic detection probes are installed on the rear end surface of the cleaning mounting plate respectively, the upper end of the bellows is installed on the cleaning nozzle, and the lower end is installed on the telescopic rod connecting seat and connected to the rotating joint, the outer side of the telescopic rod group is connected to the cleaning mounting plate, and the inner side is connected to the telescopic rod connecting seat.

[0013] Furthermore, in the above pipeline cleaning and inspection robot: a through hole I is provided on each of the left and right upper end surfaces of the electromagnet fixing plate, and three pairs of equidistant through holes II are provided on the front end surface.

[0014] Furthermore, in the above pipeline cleaning and inspection robot: a threaded connection hole II is provided on the side of the support seat, a bearing mounting hole is provided in the middle, through holes III are provided on the upper and lower sides of the front end surface bearing mounting hole, and threaded connection holes III are provided on the left and right sides of the bearing mounting hole.

[0015] Furthermore, in the above pipeline cleaning and inspection robot: a coupling hole is provided on the front end face of the rear motor seat, blind holes are provided on the left and right sides of the coupling hole, a threaded connection hole IV is provided on the oblique side, a motor mounting hole is provided at the rear, and threaded connection holes V are provided around the motor mounting hole.

[0016] Furthermore, in the above pipeline cleaning and inspection robot: the front end surface of the motor seat connecting plate is provided with a frustum distributed diagonally, an umbilical cable connecting hole is provided in the middle, and the threaded connecting holes VI are arranged in a triangular shape and are distributed rotationally symmetrically along the circumference of the umbilical cable connecting hole.

[0017] Furthermore, in the above-mentioned pipeline cleaning and inspection robot: one of the ultrasonic detection probes is a transmitting connector and the other is a receiving connector, which are distributed on the left and right of the cleaning mounting plate. The direction of the cleaning nozzle can be adjusted, the bellows can be flexibly deformed, and a spring is installed on the telescopic rod group, which can adapt to the change of length of the pipeline.

[0018] Furthermore, in the above pipeline cleaning and inspection robot: the telescopic rod connecting seat is installed in front of the central control connection module, one end is connected to the bellows, and the other end is connected to the rotating joint.

[0019] Furthermore, in the above pipeline cleaning and inspection robot: the movement diameter change and inspection cleaning of the station upright and multi-branch complex pipeline cleaning and inspection robot includes the following steps:

[0020] S1: Preliminary preparation: Make sure the robot and all its accessories are intact, connect the cables to the robot, check whether the power supply is sufficient, and ensure that the equipment can continue to work.

[0021] S2: Pipe entry operation: Open the valve at the end of the pipeline to be inspected, put the pipeline robot into it, adjust the posture of the pipeline robot, and drive the robot to walk by controlling the rotation of the crawler.

[0022] S3: Inspection and cleaning: Motor III rotates, the cleaning shovel rotates to remove hard stains, the cleaning roller brush cleans the remaining impurities on the pipe wall surface, the CCTV camera monitors the environmental conditions inside the pipe in real time, and scanning and detection are achieved through a pair of rotating transceiver ultrasonic detection probes. The image inside the pipe and the defect location information are transmitted to the industrial computer through cables.

[0023] S4: In-tube adjustment:

[0024] S41: When the pipe diameter changes, the length of the variable diameter unit is adjusted, thereby changing the distance between the crawler units to adapt to different pipe diameters.

[0025] S42: When the pipeline robot is no longer stable while passing through a sloped pipeline, the electromagnet in the track unit is energized to adsorb the pipe wall, and the friction between the track and the pipe wall increases to prevent the robot from sliding down in the sloped pipeline.

[0026] S43: When the pipeline robot encounters an obstacle that the crawler cannot directly cross during walking, the length of the electric push rod is adjusted, the rear motor seat rotates, the reducer unit rotates, the reducer unit drives the crawler unit connected to it to rotate, and the crawler unit rotates to overcome the obstacle.

[0027] S44: When encountering a scene such as a three-way pipeline that requires active turning, the tracks are adjusted to a four-shaped distribution, and the track unit whose drive wheel axis is perpendicular to the turning plane is controlled to rotate. The speed of the track unit far away from the center of the bend is higher than that of the track unit close to the center of the bend. The electromagnet in the track unit close to the center of the bend adsorbs the pipe wall, and the robot rotates. When the track unit far away from the center of the bend is separated from the pipe wall, the other two track units whose drive wheel axes are perpendicular to the turning plane are controlled to rotate.

[0028] S5: Robot recovery: After completing the cleaning and inspection tasks, control the robot to slowly exit the pipeline and put the pipeline robot and accessories in order.

[0029] The beneficial effects of the present invention are:

[0030] 1. The present invention uses a lead screw and a nut as the main structure of the diameter-changing unit to enable the robot to move in pipes with different diameters. The center of gravity remains unchanged during the diameter-changing process, and the stability is better.

[0031] 2. The present invention realizes the robot walking in the vertical pipeline through the electromagnet adsorption in the crawler unit; the electric push rod and hinge structure in the connecting unit realize the robot's rotation to avoid obstacles, and can work in a complex pipeline environment with high flexibility and strong adaptability.

[0032] 3. The present invention uses the cooperation of cleaning tools to flush and scrape the pipe wall to remove sticky and hardened impurities in the pipeline; through the joint detection of electromagnetic ultrasonic probes and CCTV cameras, high-precision detection of the pipe wall is achieved, with high work efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 This is a view of the module structure in the tube of the present invention;

[0034] Figure 2 A partial cross-sectional view of a crawler unit of the present invention;

[0035] Figure 3 It is a partial view of the front direction of the variable diameter unit of the present invention;

[0036] Figure 4 It is a partial side view of the variable diameter unit of the present invention;

[0037] Figure 5 A partial view of a connecting unit of the present invention;

[0038] Figure 6 It is a partial view of the central control connection module of the present invention;

[0039] Figure 7 is a cross-sectional view of the central control connection module of the present invention;

[0040] Figure 8 The view of the CCTV camera of the present invention;

[0041] Fig. 9 It is a partial view of the cleaning detection module of the present invention;

[0042] Fig.10 A partial view of a control power module of the present invention;

[0043] Fig.11 A view of an electromagnet fixing plate of the present invention;

[0044] Fig.12 It is a partial view of the electromagnet of the present invention;

[0045] Fig.13 A view of a support base of the present invention;

[0046] Fig.14 A view of the electric push rod of the present invention;

[0047] Fig.15 A view of the rear motor seat of the present invention;

[0048] Fig.16 A view of a motor base connecting plate of the present invention;

[0049] Fig.17 A view of a rotary joint according to the present invention;

[0050] Fig.18 It is a schematic diagram of the working of the present invention;

[0051] In the figure, 1, drive variable diameter module, 10, crawler unit, 101, motor fixing plate I, 102, crawler plate fixing seat, 103, electromagnet fixing plate, 1031, through hole I, 1032, through hole II, 104, crawler plate, 105, guide wheel, 106, crawler, 107, support wheel, 108, electromagnet, 1081 threaded connection hole I, 109, motor I, 10, crawler unit, 110, drive wheel, 11, variable diameter unit, 111, motor II, 112, guide rod I, 113, support seat, 1 131. Threaded connection hole II, 1132. Through hole III, 1133. Threaded connection hole III, 1134. Bearing mounting hole, 114. Track connecting plate, 115. Guide rod II, 116. Nut seat, 117. Nut, 118. Lead screw, 119. Coupling, 12. Connecting unit, 120. Hinge support I, 121. Electric push rod, 1211. Hinge support III, 122. Hinge support II, 123. Rear motor seat, 1231. Threaded connection hole IV, 1232. Motor mounting hole, 1233 , threaded connection hole V, 1234, blind hole, 1235, coupling hole, 124, V-type connecting plate, 125, motor seat connecting plate, 1251, threaded connection hole VI, 1252, round table, 1253, umbilical cable connection hole, 2, central control connection module, 201, circuit board, 202, umbilical cable, 203, circuit board mounting seat, 204, camera fixing seat, 205, CCTV camera, 2051, lens, 2052, lighting lamp beads, 206, rotating joint, 2061, side pipe, 2062, rotating Driving shaft tube, 207, front cover plate, 208, motor fixing plate II, 209, motor III, 210, connecting seat, 3, cleaning detection module, 301, cleaning nozzle, 302, cleaning shovel, 303, cleaning roller brush, 304, ultrasonic detection probe, 305, cleaning installation plate, 306, bellows, 307, telescopic rod group, 308, telescopic rod connecting seat, 4, control power module, 401, water tank, 402, industrial computer, 403, display, 404, power supply, 405, stranding machine, 406, reel. DETAILED DESCRIPTION

[0052] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" and "connection" 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 indirectly connected 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.

[0055] like Figures 1 to 18 As shown, this embodiment is a station upright and multi-branch complex pipeline cleaning and inspection robot, which includes a driving variable diameter module 1, a central control connection module 2, a cleaning and inspection module 3, and a control power module 4, wherein the driving variable diameter module 1 is installed at the rear end of the central control connection module 2, the cleaning and inspection module 3 is installed at the front end of the central control connection module 2, and the control power module 4 is installed at the rear end of the driving variable diameter module 1.

[0056] In this embodiment, the drive variable diameter module 1 includes four track units 10 , four variable diameter units 11 , and a connecting unit 12 , wherein the four track units 10 are respectively connected to the four variable diameter units 11 , and the four variable diameter units 11 are all connected to the connecting unit 12 .

[0057] In this embodiment, the track unit 10 includes a motor fixing plate I 101, a track shoe fixing seat 102, an electromagnet fixing plate 103, a track shoe 104, a guide wheel 105, a track 106, a support wheel 107, an electromagnet 108, a motor I 109, and a driving wheel 110; the variable diameter unit 11 includes a motor II 111, a guide rod I 112, a support seat 113, a track connecting plate 114, a guide rod II 115, a nut seat 116, a nut 117, a lead screw 118, and a coupling 119; the connecting unit 12 includes a hinge support I 120, an electric push rod 121, a hinge support II 122, a rear motor seat 123, a V-shaped connecting plate 124, and a motor seat connecting plate 125;Among them, two track shoes 104 are fixedly connected to the front end and rear end of the track shoe fixing seat 102, respectively, the guide wheel 105 is installed at the left end of the track shoe 104, the drive wheel 110 is installed at the right end of the track shoe 104, the electromagnet fixing plate 103 is fixedly connected to the middle of the track shoe 104 by bolts, four support wheels 107 are installed in pairs on both sides of the electromagnet fixing plate 103 of the track shoe 104, the inner side of the track 106 is meshed with the guide wheel 105, the drive wheel 110, and the support wheel 107, the motor fixing plate Ⅰ101 is fixedly connected to the right end of the electromagnet fixing plate 103 by screws, and the motor I109 is installed on the motor fixing plate Ⅰ101 The output end of the motor I109 is connected to the driving wheel 110 through a pair of bevel gears. There are three electromagnets 108, which are horizontally equidistantly distributed in the crawler 106. The electromagnet 108 has a threaded connection hole I1081, which is fixedly connected to the left, middle and right ends of the electromagnet fixing plate 103 by screws. There are two track shoes 104, which are respectively fixedly connected to the front and rear end surfaces of the track shoe fixing seat 102. There are two guide rods II 115, which pass through the through holes of the support seat 113 front and back, respectively. The upper end is connected to the crawler connecting plate 114, and the lower end is connected to the nut seat 116. The support seat 113 is located between the crawler connecting plate 114 and the nut seat 116, and the support seat 113 is connected to the rear motor seat 1 23 are all equipped with bearings, the upper and lower ends of the lead screw 118 are connected to the bearings on the support seat 113 and the rear motor seat 123 respectively, the nut 117 is fixedly connected to the nut seat 116 by screws, the nut 117 cooperates with the lead screw 118, two guide rods I112 pass through the through holes of the nut seat 116 on the left and right respectively, the upper end is fixedly connected to the support seat 113, and the lower end is fixedly connected to the rear motor seat 123, the nut seat 116 is located between the support seat 113 and the rear motor seat 123, the upper end of the coupling 119 is connected to the lower end of the lead screw 118, and the lower end is connected to the motor II111, the motor II111 is installed on the rear motor seat 123 by screws, and the rear Four motor seats 123 are arranged in a ring. Among two adjacent rear motor seats 123, one is fixed to the motor seat connecting plate 125 through a V-shaped connecting plate 124, and the other is connected to the hinge support II 122. The rear motor seats 123 at relative positions are arranged in the same manner. Each rear motor seat 123 is connected to a variable diameter unit 11. A hinge support I 120 is fixed between adjacent support seats 113 by screws. Hinge supports III 1211 are provided at both ends of the electric push rod 121 and are connected to the hinge support I 120 by pins. The hinge support II 122 is fixedly connected to the rear motor seat 123 by screws. A round table is provided on the front end surface of the motor seat connecting plate 125, which is connected to the hinge support II 122. ;

[0058] In this embodiment, the central control connection module 2 includes: a circuit board 201, an umbilical cable 202, a circuit board mounting seat 203, a camera fixing seat 204, a CCTV camera 205, a rotating joint 206, a front cover 207, a motor fixing plate II 208, a motor III 209, and a connecting seat 210; wherein the circuit board 201 is mounted on the left end inside the circuit board mounting seat 203, the umbilical cable 202 is wrapped with cables and water pipes, and the umbilical cable 202 passes through the circuit board 201 until the left end of the connecting seat 210 is connected to the rotating seat. The side tube 2061 on the joint 206 is connected, and there is a rotating shaft tube 2062 on the rotating joint 206. The rotating joint 206 is fixedly installed on the left end of the partition of the connecting seat 210 and is fixedly connected to the front cover 207 at the left end. There are two CCTV cameras 205, and a lens 2051 and a lighting lamp bead 2052 are provided at the front end. They are fixedly connected to the camera fixing seat 204 by screws. There are two camera fixing seats 204, which are respectively installed on the upper and lower end surfaces of the connecting seat 210, and the motor III209 is installed at the right end of the internal partition of the connecting seat 210.

[0059] In this embodiment, the cleaning detection module 3 includes a cleaning nozzle 301, a cleaning shovel 302, a cleaning roller brush 303, an ultrasonic detection probe 304, a cleaning mounting plate 305, a bellows 306, a telescopic rod group 307, and a telescopic rod connecting seat 308; wherein the cleaning nozzle 301, the cleaning shovel 302, and the cleaning roller brush 303 are installed on the front end surface of the cleaning mounting plate 305 from left to right, two ultrasonic detection probes 304 are respectively installed on the rear end surface of the cleaning mounting plate 305, the upper end of the bellows 306 is installed on the cleaning nozzle 301, and the lower end is installed on the telescopic rod connecting seat 308 and connected to the rotating joint 206, and the outer side of the telescopic rod group 307 is connected to the cleaning mounting plate 305, and the inner side is connected to the telescopic rod connecting seat 308.

[0060] In this embodiment, the control power module 40 includes a water tank 401, an industrial computer 402, a display 403, a power supply 404, a stranding machine 405, and a reel 406; wherein the rear end of the reel 406 is connected to the stranding machine 405, and the rear end of the stranding machine 405 is respectively connected to the power supply 404, the industrial computer 402, and the water tank 401, the power supply 404 is connected to the industrial computer 402, and the rear end of the industrial computer 402 is connected to the display 403.

[0061] In this embodiment, a through hole I1031 is provided on each of the left and right upper end surfaces of the electromagnet fixing plate 103, and three pairs of equidistant through holes II1032 are provided on the front end surface.

[0062] In this embodiment, the support seat 113 has a threaded connection hole II1131 on the side, a bearing mounting hole 1134 in the middle, through holes III1132 on the upper and lower sides of the front end bearing mounting hole 1134, and threaded connection holes III1133 on the left and right sides of the bearing mounting hole 1134.

[0063] In this embodiment, a coupling hole 1235 is provided on the front end face of the rear motor seat 123, blind holes 1234 are provided on the left and right sides of the coupling hole 1235, a threaded connection hole IV1231 is provided on the oblique side, a motor mounting hole 1232 is provided at the rear, and threaded connection holes V1233 are provided circumferentially of the motor mounting hole 1232.

[0064] In this embodiment, the front end surface of the motor seat connecting plate 125 is provided with a frustum 1252 distributed diagonally, an umbilical cable connecting hole 1253 is provided in the middle, and the threaded connecting holes VI1251 are arranged in a triangle and are distributed symmetrically in the circumferential direction of the umbilical cable connecting hole 1253.

[0065] In this embodiment, one of the ultrasonic detection probes 304 is a transmitting connector and the other is a receiving connector, which are distributed on the left and right of the cleaning mounting plate 305. The direction of the nozzle of the cleaning nozzle 301 can be adjusted, the bellows 306 can be flexibly deformed, and a spring is installed on the telescopic rod group 307, which can adaptively change the length of the pipeline.

[0066] In this embodiment, the telescopic rod connection seat 308 is installed in front of the central control connection module 2, one end of which is connected to the bellows 306, and the other end is connected to the rotating joint 206.

[0067] In this embodiment, the movement diameter change and detection cleaning of the station upright and multi-branch complex pipeline cleaning and inspection robot includes the following steps:

[0068] S1: Preliminary preparation: Make sure the pipeline robot and all its accessories are intact, connect the cables to the robot, check whether the power supply is sufficient, and ensure that the equipment can continue to work.

[0069] S2: Pipe entry operation: open the valve at the end of the pipeline to be inspected, put the pipeline robot into it, adjust the posture of the pipeline robot, and drive the robot to walk by controlling the rotation of the crawler 106.

[0070] S3: Inspection and cleaning: Motor III 209 rotates, the cleaning shovel 302 rotates to remove hard stains, the cleaning roller brush 303 cleans the remaining impurities on the pipe wall surface, the CCTV camera 205 monitors the environmental conditions inside the pipe in real time, and scanning inspection is achieved through a pair of rotating transceiver ultrasonic detection probes 304, and the image inside the pipe and the defect location information are transmitted to the industrial computer 402 through the cable.

[0071] S4: In-tube adjustment:

[0072] S41: When the pipe diameter changes, the length of the variable diameter unit 11 is adjusted, thereby changing the distance between the track units 10 to adapt to different pipe diameters;

[0073] S42: When the pipeline robot is no longer stable while passing through a sloped pipeline, the electromagnet 108 in the track unit 10 is energized to adsorb the pipeline wall, and the friction force of the track on the pipeline wall is increased to prevent the robot from sliding down in the sloped pipeline.

[0074] S43: When the pipeline robot encounters an obstacle that the crawler cannot directly cross during walking, the length of the electric push rod 121 is adjusted, the rear motor seat 123 rotates, the reducer unit 11 rotates, the reducer unit 11 drives the crawler unit 10 connected thereto to rotate, and the crawler unit 10 rotates to overcome the obstacle;

[0075] S44: When encountering a scene such as a three-way pipeline that requires active turning, the crawler tracks are adjusted to be arranged in a four-character shape, and the crawler track unit 10 whose axis of the driving wheel 110 is perpendicular to the turning plane is controlled to rotate. The crawler track unit 10 far from the center of the bend has a higher speed than the crawler track unit 10 near the center of the bend. The electromagnet 108 in the crawler track unit 10 near the center of the bend adsorbs the pipe wall, and the robot rotates. When the crawler track unit 10 far from the center of the bend is separated from the pipe wall, the crawler track units 10 whose axes of the other two driving wheels 110 are perpendicular to the turning plane are controlled to rotate;

[0076] S5: Robot recovery: After completing the cleaning and inspection tasks, control the robot to slowly exit the pipeline and put the pipeline robot and accessories in order.

Claims

1. A station upright and multi-branch complex pipeline cleaning and inspection robot, characterized by: The invention comprises a drive variable diameter module (1), a central control connection module (2), a cleaning detection module (3), and a control power module (4), wherein the drive variable diameter module (1) is installed at the rear end of the central control connection module (2), the cleaning detection module (3) is installed at the front end of the central control connection module (2), and the control power module (4) is installed at the rear end of the drive variable diameter module (1); The drive variable diameter module (1) comprises four track units (10), four variable diameter units (11), and a connection unit (12), wherein the four track units (10) are respectively connected to the four variable diameter units (11), and the four variable diameter units (11) are all connected to the connection unit (12); The track unit (10) comprises a motor fixing plate I (101), a track shoe fixing seat (102), an electromagnet fixing plate (103), a track shoe (104), a guide wheel (105), a track (106), a support wheel (107), an electromagnet (108), a motor I (109), and a driving wheel (110); the variable diameter unit (11) comprises a motor II (111), a guide rod I (112), a support seat (113), a track connecting plate (114), a guide rod II (115), a nut seat (116), a nut (117), a lead screw (118), and a coupling (119); the connecting unit (12) comprises a hinge support seat I (120), an electric push rod (121), a hinge support seat II (122), a rear motor The invention relates to a motor seat connecting plate (125), wherein two track shoes (104) are respectively fixedly connected to the front end surface and the rear end surface of the track shoe fixing seat (102), the guide wheel (105) is installed at the left end of the track shoe (104), the drive wheel (110) is installed at the right end of the track shoe (104), the electromagnet fixing plate (103) is fixedly connected to the middle part of the track shoe (104) by bolts, four support wheels (107) are installed in pairs on both sides of the electromagnet fixing plate (103) of the track shoe (104), the inner side of the track (106) is meshed with the guide wheel (105), the drive wheel (110) and the support wheel (107), and the motor fixing plate I (101) is fixedly connected to the electromagnet fixing plate (103) by screws. At the right end of the fixing plate (103), the motor I (109) is installed on the motor fixing plate I (101), and the output end of the motor I (109) is connected to the driving wheel (110) through a pair of bevel gears. There are three electromagnets (108) which are horizontally and equidistantly distributed in the crawler (106). The electromagnets (108) are provided with threaded connection holes I (1081) which are fixedly connected to the left, middle and right ends of the electromagnet fixing plate (103) by screws. There are two track shoes (104) which are respectively fixedly connected to the front and rear end surfaces of the track shoe fixing seat (102). There are two guide rods II (115) which respectively pass through the through holes of the support seat (113) in the front and rear directions, and the upper ends are connected to the track connecting plate (114) and the lower ends are connected to the nut seat (116). The support seat (113) is located at Bearings are installed between the track connecting plate (114) and the nut seat (116), the support seat (113) and the rear motor seat (123), the upper end and the lower end of the lead screw (118) are respectively connected to the bearings on the support seat (113) and the rear motor seat (123), the nut (117) is fixedly connected to the nut seat (116) by screws, the nut (117) and the lead screw (118) cooperate, two guide rods I (112) pass through the through holes of the nut seat (116) on the left and right, the upper ends are fixedly connected to the support seat (113), and the lower ends are fixedly connected to the rear motor seat (123), the nut seat (116) is located between the support seat (113) and the rear motor seat (123), the upper end of the coupling (119) is connected to the lower end of the lead screw (118),The lower end is connected to the motor II (111), and the motor II (111) is installed on the rear motor seat (123) by screws. The rear motor seats (123) are arranged in four rings. Among two adjacent rear motor seats (123), one is fixed to the motor seat connecting plate (125) by a V-shaped connecting plate (124), and the other is connected to the hinge support II (122). The rear motor seats (123) at relative positions are arranged in the same manner. Each rear motor seat (123) is connected to a variable diameter unit (11). A hinge support I (120) is fixed between adjacent support seats (113) by screws. Hinge supports III (1211) are provided at both ends of the electric push rod (121) and are connected to the hinge support I (120) by pins. The hinge support II (122) is fixedly connected to the rear motor seat (123) by screws. A round table is provided on the front end surface of the motor seat connecting plate (125) and is connected to the hinge support II (122); The central control connection module (2) comprises: a circuit board (201), an umbilical cable (202), a circuit board mounting seat (203), a camera fixing seat (204), a CCTV camera (205), a rotating joint (206), a front cover (207), a motor fixing plate II (208), a motor III (209), and a connecting seat (210); wherein the circuit board (201) is mounted on the left end inside the circuit board mounting seat (203), the umbilical cable (202) is wrapped with electric cables and water pipes inside, and the umbilical cable (202) passes through the circuit board (201) until the left end of the connecting seat (210) and the side pipe (2061) on the rotating joint (206) are connected. ), a rotating shaft tube (2062) is arranged on the rotating joint (206), the rotating joint (206) is fixedly mounted on the left end of the partition of the connecting seat (210), the right end of the connecting seat (210) is fixedly connected to the left end of the circuit board mounting seat (203), and the left end is fixedly connected to the front cover plate (207), two CCTV cameras (205) are provided with a lens (2051) and an illuminating lamp bead (2052) at the front end, and are fixedly connected to the camera fixing seat 204 by screws, the two camera fixing seats (204) are respectively mounted on the upper and lower end surfaces of the connecting seat (210), and the motor III (209) is mounted on the right end of the internal partition of the connecting seat (210); The cleaning detection module (3) comprises a cleaning nozzle (301), a cleaning shovel (302), a cleaning roller brush (303), an ultrasonic detection probe (304), a cleaning installation plate (305), a bellows (306), a telescopic rod group (307), and a telescopic rod connecting seat (308); wherein the cleaning nozzle (301), the cleaning shovel (302), and the cleaning roller brush (303) are installed on the front end surface of the cleaning installation plate (305) from left to right, two ultrasonic detection probes (304) are installed on the rear end surface of the cleaning installation plate (305), the upper end of the bellows (306) is installed on the cleaning nozzle (301), and the lower end is installed on the telescopic rod connecting seat (308) and connected to the rotating joint (206); the outer side of the telescopic rod group (307) is connected to the cleaning installation plate (305), and the inner side is connected to the telescopic rod connecting seat (308); The control power module (4) comprises a water tank (401), an industrial computer (402), a display (403), a power supply (404), a stranding machine (405), and a reel (406); wherein the rear end of the reel (406) is connected to the stranding machine (405), the rear end of the stranding machine (405) is respectively connected to the power supply (404), the industrial computer (402), and the water tank (401), the power supply (404) is connected to the industrial computer (402), and the rear end of the industrial computer (402) is connected to the display (403).

2. According to claim 1, a station upright and multi-branch complex pipeline cleaning and inspection robot is characterized by: The upper end surface of the electromagnet fixing plate (103) is provided with a through hole I (1031) on each side, and the front end surface is provided with three pairs of equidistant through holes II (1032).

3. According to claim 1, a station upright and multi-branch complex pipeline cleaning and inspection robot is characterized by: The support seat (113) is provided with a threaded connection hole II (1131) on the side, a bearing mounting hole (1134) in the middle, a through hole III (1132) is provided on the upper and lower sides of the front end surface bearing mounting hole (1134), and a threaded connection hole III (1133) is provided on the left and right sides of the bearing mounting hole (1134).

4. According to claim 1, a station upright and multi-branch complex pipeline cleaning and inspection robot is characterized by: The front end surface of the rear motor seat (123) is provided with a coupling hole (1235), the left and right sides of the coupling hole (1235) are provided with blind holes (1234), the oblique side surface is provided with a threaded connection hole IV (1231), the rear is provided with a motor mounting hole (1232), and the motor mounting hole (1232) is provided with a threaded connection hole V (1233) in the circumferential direction.

5. According to claim 1, a station upright and multi-branch complex pipeline cleaning and inspection robot is characterized by: The front end surface of the motor seat connecting plate (125) is provided with a truncated cone (1252) distributed diagonally, an umbilical cable connecting hole (1253) is provided in the middle, and the threaded connecting holes VI (1251) are arranged in a triangular shape and are distributed rotationally symmetrically along the circumference of the umbilical cable connecting hole (1253).

6. The vertical and multi-branch complex pipeline cleaning and inspection robot for a station according to claim 1 is characterized by: One of the ultrasonic detection probes (304) is a transmitting connector and the other is a receiving connector, which are distributed on the left and right sides of the cleaning installation plate (305). The direction of the nozzle of the cleaning nozzle (301) can be adjusted. The bellows (306) can be flexibly deformed, and a spring is installed on the telescopic rod group (307), which can adapt to the change of the length of the pipeline.

7. The vertical and multi-branch complex pipeline cleaning and inspection robot for a station according to claim 1 is characterized by: The telescopic rod connection seat (308) is installed in front of the central control connection module (2), one end of which is connected to the bellows (306) and the other end of which is connected to the rotating joint (206).

8. The vertical and multi-branch complex pipeline cleaning and inspection robot for a station according to claim 1 is characterized by: The movement diameter change and detection cleaning of the station upright and multi-branch complex pipeline cleaning and detection robot include the following steps: S1: Preliminary preparation: Make sure the pipeline robot and all its accessories are intact, connect the cables to the robot, check whether the power supply is sufficient, and ensure that the equipment can continue to work; S2: Pipe entry operation: open the valve at the end of the pipeline to be inspected, put the pipeline robot into it, adjust the posture of the pipeline robot, and drive the robot to walk by controlling the crawler (106) to rotate; S3: Inspection and cleaning: the motor III (209) rotates, the cleaning shovel (302) rotates to remove hard stains, the cleaning roller brush (303) cleans the remaining impurities on the pipe wall surface, the CCTV camera (205) monitors the environmental conditions in the pipe in real time, and a pair of rotating transceiver ultrasonic detection probes (304) are used to perform scanning inspection, and the image in the pipe and the defect location information are transmitted to the industrial computer (402) through the cable; S4: In-tube adjustment: S41: When the pipe diameter changes, the length of the variable diameter unit (11) is adjusted, thereby changing the distance between the crawler units (10) to adapt to different pipe diameters; S42: When the pipeline robot is no longer stable while passing through a sloped pipeline, the electromagnet (108) in the track unit (10) is energized to absorb the pipeline wall, and the friction force of the track on the pipeline wall is increased to prevent the robot from sliding down in the sloped pipeline; S43: When the pipeline robot encounters an obstacle that the crawler cannot directly cross during walking, the length of the electric push rod (121) is adjusted, the rear motor seat (123) rotates, the reducer unit (11) rotates, the reducer unit (11) drives the crawler unit (10) connected thereto to rotate, and the crawler unit (10) rotates to overcome the obstacle; S44: When encountering a scene such as a three-way pipeline that requires active turning, the crawler tracks are adjusted to be arranged in a four-character shape, and the crawler track unit (10) whose axis of the driving wheel (110) is perpendicular to the turning plane is controlled to rotate, and the crawler track unit (10) far from the center of the bend has a higher speed than the crawler track unit (10) near the center of the bend, and the electromagnet (108) in the crawler track unit (10) near the center of the bend absorbs the pipe wall, and the robot rotates. When the crawler track unit (10) far from the center of the bend is separated from the pipe wall, the crawler track units (10) whose axes of the other two driving wheels (110) are perpendicular to the turning plane are controlled to rotate; S5: Robot recovery: After completing the cleaning and inspection tasks, control the robot to slowly exit the pipeline and put the pipeline robot and accessories in order.

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