Pipeline robot suitable for underground pipe network detection

Abstract

The invention relates to the technical field of pipeline robots, in particular to a pipeline robot suitable for underground pipe network detection. Comprising an equipment shell, a detection assembly, a first underwater camera, a second underwater camera and two fixing mechanisms, the two fixing mechanisms are symmetrically arranged; the equipment shell is arranged between the two fixing mechanisms, and a first electric telescopic rod used for driving the barrel on one side to move in the length direction of the barrel is installed in the equipment shell. A mounting shaft is rotationally mounted on the equipment shell, a second power assembly used for driving the mounting shaft to rotate is mounted in the equipment shell, and the mounting shaft is connected with the barrel on the other side; the detection assembly is mounted on the mounting shaft; and the first underwater camera and the second underwater camera are respectively arranged at the outer ends of the cylinder bodies at the two sides. The robot has good stability and can easily cross obstacles in the pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a pipeline robot suitable for underground pipeline network detection. Background Art

[0002] Pipelines are an important part of the national lifeline project and the main artery of national energy. Their safe operation has a significant impact on the national economic development. To ensure the safety of pipelines, they need to be inspected after a period of operation to promptly discover potential safety hazards. The pipeline robot is the main driving device for pipeline inspection. It crawls along the pipeline with the inspection equipment to complete the pipeline inspection. With the continuous development of the scale of oil, gas and water supply pipelines in my country, the pipeline network structure is becoming more and more complex, especially in urban gas and water supply pipelines, there are a large number of branch pipelines. Therefore, in order to achieve comprehensive inspection of the pipeline network.

[0003] In the prior art, pipeline robots are mostly driven by crawling. When the pipeline is full of water, the high-speed water flow can easily impact the robot, resulting in poor stability of the robot. Secondly, when there are stones or other obstacles in the pipeline, it cannot cross the obstacles and continue to move forward, affecting subsequent inspection work. Summary of the invention

[0004] The purpose of the present invention is to address the problems existing in the background technology and to provide a pipeline robot suitable for underground pipe network detection.

[0005] The technical solution of the present invention is a pipeline robot suitable for underground pipeline network detection, comprising:

[0006] Two fixing mechanisms are symmetrically arranged, and the fixing mechanisms include a cylinder, a plurality of rotating rods rotatably mounted at the end of the cylinder, and a first power assembly for driving the plurality of rotating rods to rotate synchronously; the outer ends of the rotating rods are connected with anti-slip rubber blocks;

[0007] The device housing is arranged between the two fixing mechanisms, and a first electric telescopic rod for driving the cylinder on one side to move along its length direction is installed inside the device housing; a mounting shaft is rotatably installed on the device housing, and a second power assembly for driving the mounting shaft to rotate is installed inside the device housing, and the mounting shaft is connected to the cylinder on the other side;

[0008] A detection assembly mounted on the mounting shaft;

[0009] A first underwater camera and a second underwater camera are respectively installed at the outer ends of the cylinders on both sides.

[0010] Preferably, the ends of the plurality of rotating rods on one side fixing mechanism connected to the mounting shaft are all mounted with bristles.

[0011] Preferably, the first power assembly includes a second electric telescopic rod, a sliding ring and a plurality of connecting rods. The second electric telescopic rod is installed on the inner side of the cylinder. A slider is connected to the output shaft of the second electric telescopic rod. A sliding hole for sliding the slider is opened on the cylinder. The sliding ring is slidably installed on the cylinder. The slider is connected to the sliding ring through the sliding hole. The plurality of connecting rods are rotatably installed on the sliding ring, and the other ends of the plurality of connecting rods are rotatably connected to the plurality of rotating rods respectively.

[0012] Preferably, the second power assembly includes a servo motor, a driving gear and a gear ring. The servo motor is installed on the inner side of the equipment housing, the driving gear is installed on the output shaft of the servo motor, the gear ring is installed on the outer periphery of the mounting shaft, and the gear ring is meshed with the driving gear.

[0013] Preferably, the detection component includes a sonar, a laser scanner and a third underwater camera.

[0014] Preferably, a traction rope is connected to the end of the cylinder away from one end of the mounting shaft.

[0015] Preferably, a length scale is provided on the surface of the traction rope.

[0016] Preferably, a controller and a signal transmission module are installed inside the device housing.

[0017] Compared with the prior art, the present invention has the following beneficial technical effects:

[0018] 1. When driving the robot to move, one side of the fixing mechanism will always be kept fixed, thereby improving the stability of the robot's movement in the pipeline and preventing it from being affected by high-speed water flow.

[0019] 2. When the clamping state of the fixing mechanism is released, multiple rotating rods rotate and fold synchronously. This structural setting enables the robot to cross obstacles at the bottom end of the pipe.

[0020] 3. The detection component is centrally located in the middle of the robot, and the pipe is not full of water in most cases. In shallow water, the time the main body of the robot is immersed can be reduced to extend the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 and Figure 2 All of them are structural schematic diagrams of the present invention.

[0022] Figure 3 It is a cross-sectional structural diagram of the device housing in the present invention.

[0023] Figure numerals: 1. Equipment housing; 2. Cylinder; 201. Sliding hole; 3. Rotating rod; 4. Anti-slip rubber block; 5. Sliding ring; 6. Bristles; 7. Towing rope; 8. Connecting rod; 91. First underwater camera; 92. Second underwater camera; 93. Third underwater camera; 10. Sonar; 11. Laser scanner; 12. Mounting shaft; 13. First electric telescopic rod; 14. Servo motor; 15. Driving gear; 16. Gear ring. DETAILED DESCRIPTION

[0024] Embodiment 1

[0025] like Figure 1-Figure 3 As shown, the present embodiment proposes a pipeline robot suitable for underground pipe network detection, including a device housing 1, a detection component, a first underwater camera 91, a second underwater camera 92 and two fixing mechanisms.

[0026] The two fixing mechanisms are symmetrically arranged, and the fixing mechanism includes a cylinder 2, a plurality of rotating rods 3 rotatably mounted on the end of the cylinder 2, and a first power assembly for driving the plurality of rotating rods 3 to rotate synchronously, and the first power assembly includes a second electric telescopic rod, a sliding ring 5, and a plurality of connecting rods 8. The second electric telescopic rod is mounted on the inner side of the cylinder 2, and a slider is connected to the output shaft of the second electric telescopic rod. A sliding hole 201 for sliding the slider is provided on the cylinder 2, and the sliding ring 5 is slidably mounted on the cylinder 2. The slider passes through the sliding hole 201 and is connected to the sliding ring 5. The plurality of connecting rods 8 are all rotatably mounted on the sliding ring 5, and the other ends of the plurality of connecting rods 8 are respectively rotatably connected to the plurality of rotating rods 3; the outer end of the rotating rod 3 is connected to an anti-slip rubber block 4.

[0027] The device housing 1 is arranged between two fixing mechanisms, and a first electric telescopic rod 13 for driving the cylinder 2 on one side to move along its length direction is installed inside the device housing 1; a mounting shaft 12 is rotatably installed on the device housing 1, and a second power assembly for driving the mounting shaft 12 to rotate is installed inside the device housing 1, and the second power assembly includes a servo motor 14, a driving gear 15 and a gear ring 16, the servo motor 14 is installed on the inner side of the device housing 1, the driving gear 15 is installed on the output shaft of the servo motor 14, the gear ring 16 is installed on the outer periphery of the mounting shaft 12, the gear ring 16 is meshed and connected with the driving gear 15, and the mounting shaft 12 is connected to the cylinder 2 on the other side; the second power assembly can drive the mounting shaft 12 and the fixing mechanism at the front end to rotate, so as to realize 360-degree detection of the detection assembly without dead angles, and to drive the bristles to rotate to realize cleaning of the inner wall of the pipeline.

[0028] The detection assembly is mounted on the mounting shaft 12 , and the detection assembly includes a sonar 10 , a laser scanner 11 and a third underwater camera 93 ; the first underwater camera 91 and the second underwater camera 92 are respectively mounted on the outer ends of the cylinders 2 on both sides.

[0029] A traction rope 7 is connected to the end of the cylinder 2 away from one end of the mounting shaft 12. When the robot fails in the pipeline, the robot can be taken out of the pipeline by pulling the traction rope 7 outward; a length scale is provided on the surface of the traction rope 7, and the setting of the length scale can determine the approximate position of the robot in the pipeline.

[0030] A controller and a signal transmitting module are installed inside the device housing 1. The controller is used to receive the detection signal of the robot and transmit the feedback signal to the terminal device through the signal transmitting module. There is another implementation method of the present technical solution. In order to ensure the stability of signal transmission, cables can be connected to the robot, and the arranged cables can meet the signal transmission and power supply requirements.

[0031] Specifically, before inspecting the underground sewage network, the robot must first be placed in the pipeline. When placing the robot, the front side of the robot should be placed first, and the front side here refers to the end away from the traction rope 7. Then the operator lifts the robot so that the cylinder 2 is coaxially arranged with the pipeline, and then controls the first power components on both sides to start working. The first power mechanism drives multiple rotating rods 3 to unfold synchronously until multiple anti-slip rubber blocks 4 are pressed against the inner wall of the pipeline; the above is the placement work before inspection.

[0032] After the robot is placed into the pipeline, the robot is driven to move along the length direction of the pipeline. The specific operation is as follows: the fixing work of the front fixing mechanism is released. The fixing mechanism does not need to be completely folded to release the fixing. It is only necessary to drive the anti-slip rubber block 4 to separate from the inner wall of the pipeline, and start the first electric telescopic rod 13 to drive its output shaft to extend to the maximum length, which drives the movement of the front fixing mechanism. In this process, the continuous clamping of the inner wall of the pipeline by the rear fixing mechanism must be ensured. After the front fixing mechanism moves to a limited position, the front fixing mechanism is controlled to switch to a clamping state of the inner wall of the pipeline. In this process, the clamping work of the pipeline by the rear fixing mechanism is released, and the output shaft of the first electric telescopic rod 13 is driven to retract to drive the rear fixing mechanism to move toward the side of the front fixing mechanism, thereby realizing the movement of the robot on the inner wall of the pipeline.

[0033] It is worth noting that the robot as a whole adopts IPX8 waterproof level.

[0034] The above-mentioned driving structure has the following advantages: 1. During the process of driving the robot to move, one side of the fixing mechanism will always be kept in a fixed state, thereby improving the stability of the robot's movement in the pipeline and preventing it from being affected by high-speed water flow; 2. When the clamping state of the fixing mechanism is released, multiple rotating rods 3 rotate and fold synchronously. This structural setting enables the robot to cross obstacles at the bottom of the pipeline; 3. The detection component is centrally arranged in the middle of the robot, and in most cases the pipeline is not full of water. In a shallow water state, the time that the main part of the robot is immersed can be reduced to extend the service life of the robot.

[0035] Embodiment 2

[0036] like Figure 1 As shown, the present embodiment proposes a pipeline robot suitable for underground pipe network inspection. Compared with the first embodiment, in the present embodiment, the ends of multiple rotating rods 3 on a side fixing mechanism connected to the mounting shaft 12 are all installed with bristles 6; specifically, when the camera captures the existence of silt at the bottom end of the inner wall of the pipe, which makes it impossible to detect damage to the inner wall of the pipe, the second power component is installed to drive the mounting shaft 12 to rotate, thereby driving the fixing mechanism at the front end to rotate. When driving the front fixing mechanism to rotate, it should be ensured that it is in a non-fixed state, and it is necessary to ensure that multiple bristles 6 are in contact with the inner wall of the pipe. During the rotation of the fixing mechanism, multiple bristles 6 will be driven to rotate, and the bristles 6 will clean the silt and impurities at the bottom end of the inner wall of the pipe, so that the equipment can detect the pipeline more comprehensively.

[0037] The embodiments of the present invention are described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto, and various changes can be made within the knowledge scope of technicians in the relevant technical field without departing from the purpose of the present invention.

Claims

1. A pipeline robot suitable for underground pipeline network detection, characterized in that: include: Two fixing mechanisms are symmetrically arranged, and the fixing mechanisms include a cylinder (2), a plurality of rotating rods (3) rotatably mounted at the end of the cylinder (2), and a first power assembly for driving the plurality of rotating rods (3) to rotate synchronously; the outer ends of the rotating rods (3) are connected with anti-slip rubber blocks (4); The device housing (1) is arranged between the two fixing mechanisms, and a first electric telescopic rod (13) is installed inside the device housing (1) for driving the cylinder (2) on one side to move along its length direction; a mounting shaft (12) is rotatably mounted on the device housing (1), and a second power assembly is installed inside the device housing (1) for driving the mounting shaft (12) to rotate, and the mounting shaft (12) is connected to the cylinder (2) on the other side; A detection assembly mounted on the mounting shaft (12); A first underwater camera (91) and a second underwater camera (92) are respectively mounted on the outer ends of the cylinders (2) on both sides.

2. A pipeline robot suitable for underground pipeline network detection according to claim 1, characterized in that: Brush bristles (6) are installed at the ends of a plurality of rotating rods (3) on a fixing mechanism on one side connected to the installation shaft (12).

3. A pipeline robot suitable for underground pipe network detection according to claim 1, characterized in that: The first power assembly comprises a second electric telescopic rod, a sliding ring (5) and a plurality of connecting rods (8); the second electric telescopic rod is mounted on the inner side of the cylinder (2); a slider is connected to the output shaft of the second electric telescopic rod; a sliding hole (201) for sliding the slider is provided on the cylinder (2); the sliding ring (5) is slidably mounted on the cylinder (2); the slider passes through the sliding hole (201) and is connected to the sliding ring (5); the plurality of connecting rods (8) are rotatably mounted on the sliding ring (5); and the other ends of the plurality of connecting rods (8) are rotatably connected to the plurality of rotating rods (3) respectively.

4. The pipeline robot suitable for underground pipeline network detection according to claim 1, characterized in that: The second power assembly comprises a servo motor (14), a driving gear (15) and a gear ring (16), wherein the servo motor (14) is mounted on the inner side of the device housing (1), the driving gear (15) is mounted on the output shaft of the servo motor (14), the gear ring (16) is mounted on the outer periphery of the mounting shaft (12), and the gear ring (16) is meshedly connected with the driving gear (15).

5. The pipeline robot suitable for underground pipeline network detection according to claim 1, characterized in that: The detection component includes a sonar (10), a laser scanner (11) and a third underwater camera (93).

6. The pipeline robot suitable for underground pipeline network detection according to claim 1, characterized in that: The end of the cylinder (2) away from one end of the mounting shaft (12) is connected with a traction rope (7).

7. A pipeline robot suitable for underground pipe network detection according to claim 6, characterized in that: A length scale is arranged on the surface of the traction rope (7).

8. The pipeline robot suitable for underground pipeline network detection according to claim 1, characterized in that: A controller and a signal transmission module are installed inside the device housing (1).

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