Pipeline robot

Abstract

The invention discloses a pipeline robot which comprises a power mechanism and two supporting mechanisms, and the two supporting mechanisms are arranged on the two sides of the power mechanism correspondingly. The supporting mechanism comprises an electromagnetic contact, and the electromagnetic contact has magnetism when powered on so as to be attracted to the inner wall of the pipeline. The electromagnetic contacts in the two supporting mechanisms are attracted to the inner wall of the pipeline at the same time, and at the moment, the pipeline robot is fixed in the pipeline. When the pipeline robot advances, the electromagnetic contact in one supporting mechanism is attracted to the inner wall of a pipeline, the power mechanism drives the other supporting mechanism to gradually get close to or get away from the inner wall of the pipeline, and the electromagnetic contacts in the two supporting mechanisms are alternately attracted to the inner wall of the pipeline so that the pipeline robot can move along the pipeline. The pipeline robot disclosed by the invention has the effects of stable operation in the pipeline, high load capacity and high advancing speed.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more specifically, to a pipeline robot. Background Art

[0002] With the development of robot technology, pipeline robots are used to inspect and maintain the inside of micro-pipelines. After the iron micro-pipelines in micro-pipelines have reached a certain limit in service life, defects such as micro-cracks and corrosion will inevitably appear inside the pipelines. Pipeline robots can automatically walk along the inside of micro-pipelines, while carrying one or more sensors and operating machinery, and perform a series of pipeline operations such as defect detection and repair on micro-pipelines under the remote control of the staff or automatic control of the computer.

[0003] Currently, the commonly used peristaltic robot drives are numerous and the drive control is complex. Multiple power sources are required to achieve forward and reverse bidirectional walking. The drive layout space is severely limited. Especially when walking in vertical pipelines or with large loads, a large driving force is often required to prevent the robot from becoming unstable and falling or slipping in the pipeline. Therefore, existing peristaltic pipeline robots are difficult to adapt to the operating requirements of micro-pipelines. Summary of the invention

[0004] The embodiment of the present application provides a pipeline robot that can operate stably in a pipeline and has a large load capacity and a fast travel speed.

[0005] The pipeline robot provided in this application adopts the following technical solution:

[0006] A pipeline robot, comprising:

[0007] A power mechanism for providing power;

[0008] Two supporting mechanisms are provided, and the two supporting mechanisms are respectively provided on both sides of the power mechanism; the supporting mechanism comprises an electromagnetic contact, and the electromagnetic contact has magnetism to be adsorbed on the inner wall of the pipeline when energized;

[0009] The electromagnetic contacts in the two supporting mechanisms are simultaneously adsorbed on the inner wall of the pipeline, and the pipeline robot is fixed in the pipeline; when moving, the electromagnetic contacts in one of the supporting mechanisms are adsorbed on the inner wall of the pipeline, and the power mechanism drives the other supporting mechanism to gradually approach or move away, and the electromagnetic contacts in the two supporting mechanisms are alternately adsorbed on the inner wall of the pipeline to realize the movement of the pipeline robot along the pipeline.

[0010] Optionally, each of the supporting mechanisms includes a mounting seat and an elastic sheet, the length direction of the elastic sheet is the same as the length direction of the pipeline, one end of the elastic sheet is fixedly connected to the first side of the mounting seat, and the other end is fixedly connected to the electromagnetic contact.

[0011] Optionally, a plurality of the elastic sheets and the electromagnetic contacts are provided, and the plurality of elastic sheets are arranged on the mounting seat in a ring array, and the elastic sheets and the electromagnetic contacts are arranged in a one-to-one correspondence.

[0012] Optionally, the power mechanism includes a first magnet, a second magnet and an electromagnet, the first magnet and the second magnet are both arranged on the second side of the mounting base of one of the support mechanisms, the electromagnet is located between the first magnet and the second magnet, and the electromagnet is arranged on the second side of the mounting base of the other support mechanism, the first magnet and the second magnet provide opposite magnetic poles to the electromagnet so that the electromagnet is magnetically attracted to the first magnet or the second magnet.

[0013] Optionally, the power mechanism also includes a first connecting rod and a second connecting rod, the length direction of the first connecting rod and the second connecting rod is the same as the length direction of the pipeline, one end of the first connecting rod is fixedly connected to the second side of the mounting seat of one of the supporting mechanisms, and the other end is fixedly connected to the second magnet; one end of the second connecting rod is fixedly connected to the second side of the mounting seat of another supporting mechanism, and the other end is penetrated by the first magnet and fixedly connected to the electromagnet, and the first magnet is slidably connected to the second connecting rod.

[0014] Optionally, the first magnet slides with the second connecting rod in a damped manner along the length direction of the second connecting rod to buffer a rigid collision of the electromagnet with the first magnet or the second magnet.

[0015] Optionally, the central axis of the mounting seat coincides with the central axes of the first magnet, the second magnet and the electromagnet, and along the direction of the central axis, the mounting seat, the first magnet, the second magnet and the electromagnet are all provided with mounting holes, and the mounting holes are used to install cables to achieve electrical connection.

[0016] Optionally, a mounting position is provided on the first side of the mounting seat, and the mounting position is used for assembling a functional module and / or a connecting shaft.

[0017] Optionally, if the mounting position is equipped with the connecting shaft, multiple pipeline robots can be connected in series via the connecting shaft.

[0018] Optionally, if the mounting position is equipped with the connecting shaft, the functional module is mounted on the mounting seat via the connecting shaft.

[0019] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0020] When the electromagnetic contacts in the two supporting mechanisms are simultaneously adsorbed to the inner wall of the pipeline, the pipeline robot is fixed in the pipeline. The pipeline robot is fixed in the pipeline and can perform tasks on specific parts of the pipeline. When moving, the electromagnetic contacts in one of the supporting mechanisms are adsorbed to the inner wall of the pipeline, and the power mechanism drives the other supporting mechanism to gradually approach or move away. The electromagnetic contacts in the two supporting mechanisms are alternately adsorbed to the inner wall of the pipeline, and the distance between the two supporting mechanisms is adjusted to realize the movement of the pipeline robot along the pipeline. Through this arrangement, the pipeline robot of the present application can operate stably in the pipeline with a large load capacity and a fast travel speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 This is a schematic diagram of the overall structure of a pipeline robot disclosed in an embodiment of the present application;

[0023] FIG2( a ) is a schematic diagram of a pipeline robot disclosed in an embodiment of the present application, showing a motion state 1 of two supporting mechanisms;

[0024] FIG2( b ) is a schematic diagram of a pipeline robot disclosed in an embodiment of the present application, showing a second motion state of two supporting mechanisms;

[0025] FIG2( c ) is a schematic diagram of a pipeline robot disclosed in an embodiment of the present application, showing a third motion state of two supporting mechanisms;

[0026] Figure 3 This is a schematic diagram of the structure of pipeline robots connected in series according to an embodiment of the present application.

[0027] Description of reference numerals:

[0028] 1. Support mechanism; 11. Electromagnetic contact; 12. Mounting seat; 121. Mounting position; 13. Elastic sheet; 2. Power mechanism; 21. First magnet; 22. Second magnet; 23. Electromagnet; 24. First connecting rod; 25. Second connecting rod; 26. Mounting hole; 3. Connecting shaft. DETAILED DESCRIPTION

[0029] The present application is further described in detail below in conjunction with the accompanying drawings.

[0030] The embodiment of the present application provides a pipeline robot that can operate stably in a pipeline and has a large load capacity and a fast travel speed, and is suitable for iron micro-pipelines.

[0031] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work should fall within the scope of protection of the present application. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present application.

[0032] The terms "first", "second", "third", "fourth", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] Currently, the number of commonly used peristaltic robots is large and the drive control is complex. Multiple power sources are required to achieve forward and reverse bidirectional walking. The drive layout space is severely limited. Especially when walking in vertical pipelines or with large loads, a large drive force is often required to prevent the robot from losing stability and falling or slipping in the pipeline. Therefore, the existing peristaltic pipeline robots are difficult to adapt to the operation requirements of micro pipelines. To solve the above technical problems, please refer to Figure 1 , is an embodiment of the pipeline robot in the embodiments of the present application, including a power mechanism 2 and a support mechanism 1, the power mechanism 2 is used to provide power, and there are two support mechanisms 1, which are respectively arranged on both sides of the power mechanism 2 and are symmetrically arranged.

[0034] Please continue reading Figure 1The support mechanism 1 includes a mounting seat 12, an elastic sheet 13 and an electromagnetic contact 11. The central axis of the mounting seat 12 is parallel to the length of the pipeline. The length direction of the elastic sheet 13 is the same as the length direction of the pipeline. One end of the elastic sheet 13 is fixedly connected to the first side of the mounting seat 12, and the other end is fixedly connected to the electromagnetic contact 11. When the electromagnetic contact 11 is powered on, it has magnetism to be adsorbed on the inner wall of the pipeline. The electromagnetic contact 11 can be adsorbed on the inner wall of the pipeline by magnetic force to provide additional grip to prevent the pipeline robot from slipping or overturning when moving in the pipeline. It can be understood that the electromagnetic contact 11 has magnetism when it is powered on. Under the action of magnetic attraction, the end of the elastic sheet 13 that is not connected to the mounting seat 12 is bent toward the inner wall of the pipeline, so that the electromagnetic contact 11 is adsorbed on the inner wall of the pipeline; after the electromagnetic contact 11 is powered off, the magnetism disappears, the electromagnetic contact 11 is separated from the inner wall of the pipeline, and the elastic sheet 13 is reset in the direction away from the inner wall of the pipeline due to its own resilience. By providing the elastic sheet 13 , the support mechanism 1 can be adapted to pipes of different diameters, thereby expanding the applicability of the support mechanism 1 .

[0035] In this embodiment, multiple elastic sheets 13 and electromagnetic contacts 11 are provided, and multiple elastic sheets 13 are arranged in a ring array on the mounting seat 12. The elastic sheets 13 are arranged one-to-one with the electromagnetic contacts 11, and multiple electromagnetic contacts 11 are also arranged in a ring array to adapt to the inner wall of the pipeline. After being energized, the multiple electromagnetic contacts 11 are magnetic and can be adsorbed on different areas of the inner wall of the pipeline at the same time, providing greater adsorption force and stability for the support mechanism 1, ensuring that the pipeline robot will not lose balance due to single-point contact during walking.

[0036] The electromagnetic contacts 11 in the two support mechanisms 1 are simultaneously adsorbed on the inner wall of the pipeline. At this time, the pipeline robot is fixed in the pipeline. The pipeline robot is fixed in the pipeline and can perform tasks on specific parts of the pipeline, such as detection, cleaning and maintenance. When moving, the electromagnetic contact 11 in one of the support mechanisms 1 is adsorbed on the inner wall of the pipeline, and the power mechanism 2 drives the other support mechanism 1 to gradually approach or move away. The electromagnetic contacts 11 in the two support mechanisms 1 are alternately adsorbed on the inner wall of the pipeline. By adjusting the distance between the two support mechanisms 1, the pipeline robot can move along the pipeline.

[0037] The power mechanism 2 includes a first magnet 21, a second magnet 22, an electromagnet 23, a first connecting rod 24 and a second connecting rod 25. The length direction of the first connecting rod 24 and the second connecting rod 25 is the same as the length direction of the pipeline. The central axis of the first magnet 21, the second magnet 22 and the electromagnet 23 coincides with the central axis of the mounting seat 12. The first magnet 21 and the second magnet 22 are both arranged on the second side of the mounting seat 12 of one of the support mechanisms 1. One end of the first connecting rod 24 is fixedly connected to the second side of the mounting seat 12 of one of the support mechanisms 1, and the other end is fixedly connected to the second side of the mounting seat 12 of the support mechanism 1. The magnet 22 is fixedly connected; the electromagnet 23 is located between the first magnet 21 and the second magnet 22, and the electromagnet 23 is arranged on the second side of the mounting base 12 of another supporting mechanism 1, one end of the second connecting rod 25 is fixedly connected to the second side of the mounting base 12 of another supporting mechanism 1, and the other end passes through the first magnet 21 and is fixedly connected to the electromagnet 23, the first magnet 21 and the second magnet 22 provide opposite magnetic poles to the electromagnet 23, so that the electromagnet 23 is magnetically attracted to the first magnet 21 or the second magnet 22, and the first magnet 21 is slidably connected to the second connecting rod 25.

[0038] For ease of explanation, in this embodiment, the first side of the mounting seat 12 is the side of the mounting seat 12 away from the other support mechanism 1, and the second side of the mounting seat 12 is the side of the mounting seat 12 close to the other support mechanism 1; the support mechanism 1 on the right is the first support mechanism 1, and the support mechanism 1 on the left is the second mechanism. It can be understood that the first connecting rod 24 is fixedly arranged on the second side of the mounting seat 12 of the first support mechanism 1, the first magnet 21 is fixedly arranged at the end of the first connecting rod 24, and the second magnet 22 is fixedly arranged on the second side of the mounting seat 12 of the first support mechanism 1, and there is a gap between the first magnet 21 and the second magnet 22; the second connecting rod 25 is fixedly arranged on the second side of the mounting seat 12 of the second support mechanism 1, the second connecting rod 25 passes through the first magnet 21 and the end of the second connecting rod 25 is fixedly connected to the electromagnet 23, and the first magnet 21 and the second connecting rod 25 are slidably connected. When the electromagnet 23 is energized, when the direction of the magnetic field of the electromagnet 23 is the same as that of the first magnet 21 and opposite to that of the second magnet 22, the electromagnet 23 moves toward the first magnet 21 to be adsorbed onto the first magnet 21; conversely, when the direction of the magnetic field of the electromagnet 23 is the same as that of the second magnet 22 and opposite to that of the first magnet 21, the electromagnet 23 moves toward the second magnet 22 to be adsorbed onto the second magnet 22. By controlling the direction of the current of the electromagnet 23, the direction of the magnetic field of the electromagnet 23 can be changed, and it can be controlled to be adsorbed onto different magnets to realize the telescopic movement of the power mechanism 2, so that the power mechanism 2 drives the first support mechanism 1 to gradually approach or move away from the second support mechanism 1, and adjusts the distance between the first support mechanism 1 and the second support mechanism 1. The power mechanism 2 in the present application has the advantages of simple structure, convenient control, no mechanical wear, high reliability, fast response speed, etc., and at the same time has a compact structure, occupies a small space, and is suitable for application scenarios with limited space.

[0039] In order to reduce the rigid collision of the electromagnet 23 on the first magnet 21 or the second magnet 22, the first magnet 21 slides with the second connecting rod 25 in a damped manner along the length direction of the second connecting rod 25. The damped sliding is used to buffer the rigid collision generated when the electromagnet 23 moves toward the first magnet 21 or the second magnet 22, thereby extending the service life of each component.

[0040] Since the central axis of the mounting seat 12 coincides with the central axes of the first magnet 21, the second magnet 22 and the electromagnet 23, the mounting seat 12, the first magnet 21, the second magnet 22 and the electromagnet 23 are all provided with mounting holes 26 along the direction of the central axis. The mounting holes 26 are used to install cables to achieve electrical connection. The pipeline robot can be powered and controlled by means of cables.

[0041] The following is an explanation of the movement of the pipeline robot. Specifically, if the pipeline robot moves toward the right, the support mechanism 1 on the left side of the pipeline is energized and adsorbed to the inner wall of the pipeline through the electromagnetic contact 11, that is, the support mechanism 1 on the left side is fixed relative to the pipeline, as shown in Figure 2 (a); then the electromagnet 23 is energized to control the magnetic field direction of the electromagnet 23 to be the same as the first magnet 21 and opposite to the second magnet 22. Since the electromagnet 23 is fixed, the first magnet 21 moves toward the direction of the electromagnet 23 and is adsorbed onto the electromagnet 23. The movement of the first magnet 21 drives the second magnet 22 and the support mechanism 1 on the right side to move synchronously, so as to expand the two support mechanisms. 1, the support mechanism 1 on the right side moves to the right side, as shown in FIG2(b); then the support mechanism 1 on the right side is energized and adsorbed on the inner wall of the pipeline through the electromagnetic contact 11, that is, the support mechanism 1 on the left side is fixed relative to the pipeline, and the adsorption of the support mechanism 1 on the left side is canceled at this time, and the magnetic field direction of the electromagnet 23 is controlled to be the same as the second magnet 22 and opposite to the first magnet 21. Since the second magnet 22 is fixed, the electromagnet 23 moves in the direction of the first magnet 21, and the movement of the electromagnet 23 drives the support mechanism 1 on the left side to move synchronously to reduce the distance between the two support mechanisms 1, and the support mechanism 1 on the left side moves to the right side, as shown in FIG2(c). Reciprocating in sequence, the two support mechanisms 1 are alternately adsorbed on the inner wall of the pipeline to realize the movement of the pipeline robot toward the right side. If the pipeline robot moves toward the left side, the fixing order of the support mechanism 1 on the left side and the support mechanism 1 on the right side is opposite, but the operating principle is the same, so it will not be repeated here.

[0042] See also Figure 1 and Figure 3 , a first side of the mounting seat 12 is provided with a mounting position 121, and the mounting position 121 is used for assembling the functional module and / or the connecting shaft 3. In some embodiments, the mounting position 121 is equipped with a functional module to carry each functional module to move synchronously with the supporting mechanism 1, and the functional module includes: one or more of the modules such as a camera module, a sensor module, a cleaning module, a cutting module, and a repair module. The camera module can provide real-time video monitoring and provide visual information inside the pipeline to help operators understand the situation inside the pipeline, such as blockage, corrosion, cracks, etc.; the sensor module is used to help identify potential problems; the cleaning module is used to clean the dirt and sediment inside the pipeline to keep the pipeline unobstructed; the cutting module: used to cut obstacles inside the pipeline, such as tree roots, hard sediments, etc.; the repair module is used to repair damaged parts of the pipeline, such as cracks, corrosion, etc. These functional modules can be combined and customized according to specific needs to adapt to different types of pipeline inspection and maintenance tasks.

[0043] In some embodiments, the mounting position 121 is equipped with a connecting shaft 3, and multiple pipeline robots can be connected in series through the connecting shaft 3, and the connecting shaft 3 is preferably a flexible connecting shaft 3. It can be understood that the working range of a single pipeline robot is limited. By connecting multiple pipeline robots in series through the connecting shaft 3, the robot's moving range in the pipeline can be extended, covering a longer pipeline distance and expanding the working range; at the same time, multiple pipeline robots can carry more functional modules, and realize collaborative operation through the connecting shaft 3. Each pipeline robot can perform different tasks, thereby improving work efficiency and task completion; secondly, the pipeline robot connected in series can flexibly adjust its own form according to the changes in the pipeline to adapt to pipelines of different shapes, improve the adaptability in complex pipeline environments, and enhance flexibility.

[0044] In some embodiments, the mounting position 121 is equipped with a connecting shaft 3, and the functional module can be mounted on the mounting seat 12 through the connecting shaft 3. For example, the mounting position 121 of one mounting seat 12 of a pipeline robot carries an emergency mobile power supply through a flexible connecting shaft, and the mounting position 121 of another mounting seat 12 is connected in series with another pipeline robot through a flexible connecting shaft.

[0045] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A pipeline robot, characterized in that: include: A power mechanism for providing power; Two supporting mechanisms are provided, and the two supporting mechanisms are respectively provided on both sides of the power mechanism; the supporting mechanism comprises an electromagnetic contact, and the electromagnetic contact has magnetism to be adsorbed on the inner wall of the pipeline when energized; The electromagnetic contacts in the two supporting mechanisms are simultaneously adsorbed on the inner wall of the pipeline, and the pipeline robot is fixed in the pipeline; when moving, the electromagnetic contacts in one of the supporting mechanisms are adsorbed on the inner wall of the pipeline, and the power mechanism drives the other supporting mechanism to gradually approach or move away, and the electromagnetic contacts in the two supporting mechanisms are alternately adsorbed on the inner wall of the pipeline to realize the movement of the pipeline robot along the pipeline.

2. A pipeline robot according to claim 1, characterized in that: Each of the supporting mechanisms includes a mounting seat and an elastic sheet, the length direction of the elastic sheet is the same as the length direction of the pipeline, one end of the elastic sheet is fixedly connected to the first side of the mounting seat, and the other end is fixedly connected to the electromagnetic contact.

3. A pipeline robot according to claim 2, characterized in that: A plurality of the elastic sheets and the electromagnetic contacts are provided, and the plurality of elastic sheets are arranged on the mounting seat in a ring array, and the elastic sheets and the electromagnetic contacts are arranged in a one-to-one correspondence.

4. The pipeline robot according to claim 2, characterized in that: The power mechanism includes a first magnet, a second magnet and an electromagnet, the first magnet and the second magnet are both arranged on the second side of the mounting seat of one of the support mechanisms, the electromagnet is located between the first magnet and the second magnet, and the electromagnet is arranged on the second side of the mounting seat of the other support mechanism, the first magnet and the second magnet provide opposite magnetic poles to the electromagnet so that the electromagnet is magnetically attracted to the first magnet or the second magnet.

5. The pipeline robot according to claim 4, characterized in that: The power mechanism also includes a first connecting rod and a second connecting rod, the length direction of the first connecting rod and the second connecting rod is the same as the length direction of the pipeline, one end of the first connecting rod is fixedly connected to the second side of the mounting seat of one of the supporting mechanisms, and the other end is fixedly connected to the second magnet; one end of the second connecting rod is fixedly connected to the second side of the mounting seat of another supporting mechanism, and the other end is penetrated by the first magnet and fixedly connected to the electromagnet, and the first magnet is slidably connected to the second connecting rod.

6. The pipeline robot according to claim 5, characterized in that: The first magnet slides with the second connecting rod in a damped manner along the length direction of the second connecting rod to buffer the rigid collision of the electromagnet with the first magnet or the second magnet.

7. The pipeline robot according to claim 4, characterized in that: The central axis of the mounting seat coincides with the central axes of the first magnet, the second magnet and the electromagnet. Along the direction of the central axis, the mounting seat, the first magnet, the second magnet and the electromagnet are all provided with mounting holes, and the mounting holes are used to install cables to achieve electrical connection.

8. The pipeline robot according to claim 2, characterized in that: A mounting position is provided on the first side of the mounting seat, and the mounting position is used for assembling the functional module and / or the connecting shaft.

9. The pipeline robot according to claim 8, characterized in that: If the installation position is equipped with the connecting shaft, multiple pipeline robots can be connected in series through the connecting shaft.

10. The pipeline robot according to claim 8, characterized in that: If the mounting position is equipped with the connecting shaft, the functional module is mounted on the mounting seat through the connecting shaft.

Images