Pipeline internal detection robot capable of self-adapting to pipe diameter

Abstract

The invention relates to the technical field of urban pipe network detection, in particular to a pipe diameter self-adaptive pipeline interior detection robot which comprises a main machine box, a sliding rod, a rotary drum, a transmission assembly A, a driving assembly, an annular mounting shell, a transmission assembly B and an oil pumping mechanism. The two ends of the mainframe box are each connected with a guide head, an annular oil cavity is formed in each guide head, and a guide pipe is arranged on each guide head. And the other end of the sliding rod is connected with the roller. The rotary drums are inserted into the guide pipes on the corresponding sides respectively, and spline shafts are arranged in the rotary drums and inserted into the sliding rods. The transmission assembly A is in transmission connection with the spline shaft and the rotating shaft. The annular mounting shell sleeve is connected with the mainframe box, and an X-ray flaw detector is arranged on the annular mounting shell. The transmission assembly B is in transmission connection with the annular mounting shell and the driving assembly. The oil pumping mechanism is communicated with the annular oil cavities in the guide heads on the two sides. The device is high in detection efficiency and low in energy consumption, and synchronous adjustment of the distance between the rollers on the two guide heads is achieved through one oil pumping mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of urban pipe network detection, in particular to an in-pipeline detection robot with adaptive pipe diameter. Background Art

[0002] Urban pipeline network, also known as urban underground pipeline, refers to various pipelines and their ancillary facilities buried underground in the city. It is an important infrastructure and "lifeline" to ensure the operation of the city. Urban pipeline network needs to be regularly or irregularly inspected to prevent pipeline damage or severe corrosion leading to leakage. Traditional pipeline inspection usually relies on pipeline robots. However, the existing pipeline robots are too complex in structure and have low detection efficiency.

[0003] The technical solution disclosed in the Chinese patent with the announcement number CN113374988B can adjust the distance between the probe and the pipe wall through the adaptive support mechanism by mounting multiple probe mechanisms on the adaptive support mechanism; at the same time, it can realize the combined use of multiple probes. The present invention designs a connection mechanism that can convert rigidity into flexibility, so that the detection robot can pass through the straight pipe section with a rigid structure, improving the overall obstacle crossing ability and centering; it changes to flexibility in the curved pipe section, improving the bending ability of the detection robot and increasing the application range of the detection robot.

[0004] However, the device still has some shortcomings: the adjustment of the spacing between the driving wheels on the two sets of moving mechanisms of the device requires two sets of independent structures to drive the adjustment, and the rotation of the rotating shell also needs to be driven by an independent power motor, which results in a large weight and energy consumption of the entire device. At the same time, the device responds slowly when the inner diameter of the pipeline changes. Summary of the invention

[0005] The purpose of the present invention is to solve the problems existing in the background technology and to provide an in-pipeline inspection robot with adaptive pipe diameter.

[0006] The technical solution of the present invention is: an adaptive pipe diameter in-pipe inspection robot, including a main box, with a guide head connected to each of the two ends of the main box, an annular oil cavity is arranged in the guide head, and a plurality of guide tubes connected to the annular oil cavity are arranged in a circular array around the axis of the guide head.

[0007] A slide rod, one end of which is inserted into the guide tube and slidably connected to the inner wall thereof, and a rotating shaft rotatably connected to the end of the slide rod away from the main box is provided, and the rotating shaft is coaxially connected to the roller.

[0008] The rotating drum is rotatably connected to the main box, each rotating drum is respectively inserted into the guide tube on the corresponding side, a spline shaft sliding along its radial direction is arranged in the rotating drum, and the spline shaft is inserted into the sliding rod and rotatably connected thereto.

[0009] Transmission component A, transmission component A transmission connects the spline shaft and the rotating shaft.

[0010] Driving components, each driving component is connected to the guide head on the corresponding side and drives each rotating drum on the guide head on the corresponding side to rotate synchronously.

[0011] The annular mounting shell is sleeved on the outer wall of the main box and is coaxial therewith, and a plurality of X-ray flaw detectors are arranged on the annular mounting shell in an annular array around its axis.

[0012] The transmission component B is connected to the main chassis and is transmission-connected to the annular mounting shell and one of the driving components so as to drive the annular mounting shell to rotate through the driving component.

[0013] And an oil pumping mechanism, which is connected to the main engine box and synchronously communicated with the annular oil chambers in the guide heads on both sides.

[0014] Preferably, a plurality of through holes communicating with the interior of the annular oil chamber are arranged on the guide head, and each through hole is communicated with the guide pipe on the corresponding side.

[0015] Preferably, the oil pump mechanism comprises a hydraulic oil pump, the output end of the hydraulic oil pump is connected to the guide pipe. The guide head is provided with an oil injection hole connected to the annular oil cavity, and the output end of the guide pipe is connected to the oil injection holes on both sides.

[0016] Preferably, the transmission assembly A includes bevel gears A, each bevel gear A is coaxially connected to the rotating shaft and the spline shaft on the corresponding side, and two bevel gears A in the same group are meshed.

[0017] Preferably, the driving assembly includes a motor, a cavity is arranged in the guide head, a bevel gear C rotatably connected to the guide head is arranged in the cavity, each rotating cylinder is respectively inserted into the cavity of the corresponding side guide head and is coaxially connected to a bevel gear B, the bevel gear B in each guide head is meshed with the bevel gear C, the main body of the motor is connected to the guide head, and the output end of the motor is coaxially connected to the bevel gear C.

[0018] Preferably, the guide head includes a guide head A and a guide head B, and the guide head A and the guide head B have the same structure. The guide head A is integrally connected to the main chassis, a universal joint is arranged at one end of the main chassis away from the guide head A, and the guide head B is connected to the end of the universal joint away from the main chassis.

[0019] Preferably, the transmission assembly B includes an inner gear ring, gear A and gear B, two limit rings are symmetrically arranged on the outer wall of the main case, annular grooves are arranged between the limit rings on both sides and the main case, and side holes connecting the interior thereof and the annular grooves are arranged on the main case. The annular mounting shell is sleeved on the outside of the two limit rings and rotates coaxially with the main case and the limit rings, the inner gear ring is connected to the inner wall of the annular mounting shell, and the inner gear ring is inserted into the annular groove, gear A is located on the inner side of the side hole and is rotatably connected to the main case, and gear A is located on the inner side of the inner gear ring and meshes with the inner gear ring, the guide head A is coaxially connected to the transmission shaft, the transmission shaft is inserted into the main case and rotatably connected thereto, gear B is coaxially connected to the transmission shaft, and gear B meshes with gear A, and at the same time, the transmission shaft is coaxially connected to the bevel gear C in the guide head A.

[0020] Preferably, a wireless receiver, a wireless transmitter, a controller, a locator and an energy storage battery are arranged in the main box; the wireless receiver, the wireless transmitter and the locator are all electrically connected to the controller; and the energy storage battery is all electrically connected to each electrical component.

[0021] Compared with the prior art, the present invention has the following beneficial technical effects:

[0022] By setting a matching structure of an annular oil cavity, a guide tube, a sliding rod and a hydraulic oil pump, oil is injected into the annular oil cavity by using the hydraulic oil pump, and the spacing of the rollers is adjusted by the change of oil pressure. This structure reduces the number of power mechanisms of the entire equipment, reduces the weight of the equipment, and improves the self-adaptation ability of the equipment to the change of the inner diameter inside the pipeline. At the same time, the present invention also drives the annular mounting shell to rotate by the bevel gear on the guide head A, and utilizes the rotating annular mounting shell to enable the X-ray flaw detector to rotate and detect flaws while the equipment moves along the inside of the pipeline, thereby improving the detection efficiency and coverage of the X-ray flaw detector, further reducing the number of power mechanisms, and reducing the weight of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of an embodiment of the present invention;

[0024] Figure 2 It is a schematic diagram of the connection structure of various components on the guide head;

[0025] Figure 3 It is a schematic diagram of the linkage structure between the drum and the wheel;

[0026] Figure 4 It is a schematic diagram of the local structure on the main chassis;

[0027] Figure 5 This is a schematic diagram of the connection structure between the annular mounting shell and the motor in the guide head A.

[0028] Figure numerals: 1, main case; 101, universal joint; 102, side hole; 2, guide head; 2a, guide head A; 2b, guide head B; 201, annular oil chamber; 202, through hole; 203, oil filling hole; 204, cavity; 3, guide tube; 4, plug; 5, slide rod; 51, limit channel; 6, rotating shaft; 7, roller; 8, rotating drum; 9, spring; 10, spline shaft; 11, bevel gear A; 12, bevel gear B; 13, bevel gear C; 14, motor; 15, limit ring; 16, annular mounting shell; 17, X-ray flaw detector; 18, inner gear ring; 19, gear A; 20, transmission shaft; 21, gear B; 22, hydraulic oil pump; 23, guide tube. DETAILED DESCRIPTION

[0029] Embodiment 1

[0030] like Figure 1-Figure 5As shown, the present invention proposes an adaptive pipe diameter in-pipe inspection robot, comprising a main box 1, a slide bar 5, a rotating drum 8, a transmission assembly A, a drive assembly, an annular mounting shell 16, a transmission assembly B and an oil pumping mechanism. A guide head 2 is connected to each of the two ends of the main box 1, an annular oil chamber 201 is arranged in the guide head 2, and a plurality of guide tubes 3 are arranged in an annular array around the axis of the guide head 2, and a plurality of through holes 202 connected to the inside of the annular oil chamber 201 are arranged on the guide head 2, and each through hole 202 is connected to the guide tube 3 on the corresponding side. The guide head 2 includes a guide head A2a and a guide head B2b, and the structures of the guide heads A2a and B2b are the same. The guide head A2a is integrally connected to the main box 1, a universal joint 101 is arranged at one end of the main box 1 away from the guide head A2a, and the guide head B2b is connected to the end of the universal joint 101 away from the main box 1, and a touch screen is arranged on the guide head A2a. One end of the slide bar 5 is inserted into the guide tube 3 and slidably connected to the inner wall thereof. The end of the slide bar 5 away from the main box 1 is provided with a rotating shaft 6 rotatably connected thereto, and the rotating shaft 6 is coaxially connected to the roller 7. The rotating drum 8 is rotatably connected to the main box 1, and each rotating drum 8 is respectively inserted into the guide tube 3 on the corresponding side. A spline shaft 10 sliding along its radial direction is provided in the rotating drum 8, and the spline shaft 10 is inserted into the slide bar 5 and rotatably connected thereto. The transmission assembly A includes bevel gears A11, and each bevel gear A11 is coaxially connected to the rotating shaft 6 and the spline shaft 10 on the corresponding side, and the two bevel gears A11 of the same group are meshed, and the transmission assembly A is transmission-connected with the spline shaft 10 and the rotating shaft 6. The driving assembly includes a motor 14, a cavity 204 is provided in the guide head 2, a bevel gear C13 rotatably connected to the guide head 2 is provided in the cavity 204, each rotating drum 8 is respectively inserted into the cavity 204 of the corresponding side guide head 2 and is coaxially connected to a bevel gear B12, the bevel gear B12 in each guide head 2 is meshed with the bevel gear C13, the body of the motor 14 is connected to the guide head 2, the output end of the motor 14 is coaxially connected to the bevel gear C13, and each driving assembly drives each rotating drum 8 on the corresponding side guide head 2 to rotate synchronously. The annular mounting shell 16 is sleeved on the outer wall of the main box 1 and is coaxial with it, and a plurality of X-ray flaw detectors 17 are arranged on the annular mounting shell 16 in an annular array around its axis. A wireless receiver, a wireless transmitter, a controller, a locator and an energy storage battery are arranged in the main box 1, and the wireless receiver, the wireless transmitter, the locator and the X-ray flaw detector 17 are all electrically connected to the controller, and the energy storage battery is electrically connected to each electrical component.Transmission assembly B is connected to the main chassis 1, and transmission assembly B includes an inner gear ring 18, gear A19 and gear B21. Two limit rings 15 are symmetrically arranged on the outer wall of the main chassis 1. An annular groove is arranged between the limit rings 15 on both sides and the main chassis 1. The main chassis 1 is provided with a side hole 102 connecting its interior and the annular groove. The annular mounting shell 16 is sleeved on the outside of the two limit rings 15 and rotates coaxially with the main chassis 1 and the limit ring 15. The inner gear ring 18 is connected to the inner wall of the annular mounting shell 16, and the inner gear ring 18 is inserted into the annular mounting shell 16. shaped groove, gear A19 is located inside the side hole 102 and is rotatably connected to the main case 1, and gear A19 is located inside the inner gear ring 18 and meshes with the inner gear ring 18, guide head A2a is coaxially connected to transmission shaft 20, transmission shaft 20 is inserted into the main case 1 and is rotatably connected thereto, gear B21 is coaxially connected to transmission shaft 20, and gear B21 meshes with gear A06, and transmission shaft 20 is coaxially connected to bevel gear C13 in guide head A2a, so as to drive the annular mounting shell 16 to rotate through the drive assembly. The oil pumping mechanism is connected to the main case 1, and the oil pumping mechanism includes a hydraulic oil pump 22, the output end of the hydraulic oil pump 22 is connected to the guide pipe 23, and a diverter valve is arranged at the output end of the guide pipe 23, and the diverter valve includes two output ends, and the two output ends are respectively connected to a branch pipe, and a pressure gauge for detecting the internal fluid pressure thereof is arranged on the branch pipe. The guide head 2 is provided with an oil injection hole 203 communicating with the annular oil chamber 201 , and the output end of the guide tube 23 is communicated with the oil injection holes 203 on both sides.

[0031] In this embodiment, the entire device is inserted into the pipeline with the guide head B2b as the front end, the pressure value of the pressure gauge is set, and the hydraulic oil pump 22 is started. The hydraulic oil pump 22 injects hydraulic oil into the annular oil chamber 201 of the guide head A2a and the guide head B2b, and the hydraulic oil is used to push each slide bar 5, so that each roller 7 is synchronously pressed against the inner wall of the pipeline, and then the motor 14 is started. The motor 14 drives the bevel gear C13 to rotate, and then drives the bevel gear B12 and the rotating drum 8 to rotate. The rotation of the rotating drum 8 drives the spline shaft 10 to rotate, and then drives the roller 7 to rotate through the two bevel gears A11, thereby driving the entire device to move inside the pipeline. The device moves inside the pipeline At the same time, the bevel gear C13 in the guide head A2a drives the transmission shaft 20 and the gear B21 to rotate, and then drives the gear A19 to rotate through the gear B20, and the gear A19 drives the inner gear ring 18 and the annular mounting shell 16 to rotate, and then drives the X-ray flaw detector to rotate with the annular mounting shell 16, and uses the rotating X-ray flaw detector to measure the inner wall of the pipeline while moving and rotating. The X-ray flaw detector 17 uses the penetration of the rays to detect damage to the pipeline. The detection signal is processed by the controller and sent to the operating terminal of the staff by the wireless transmitter. At the same time, the staff accurately records the damaged part of the pipeline according to the locator, which is convenient for finding and repairing. When the device moves in the pipeline, if the inner diameter of the pipeline changes, at this time, due to the pre-set oil pressure value of the pressure gauge, the hydraulic oil pump 20 adaptively adjusts the amount of hydraulic oil squeezed into the annular oil cavity, and then adjusts the spacing of the rollers 7 on the guide head 2, so that the device can quickly adapt to the change of the pipe diameter and improve the moving efficiency of the device in the pipeline.

[0032] Embodiment 2

[0033] like Figure 2 and Figure 3 As shown, the present invention proposes an adaptive pipe diameter in-pipe inspection robot. Compared with the first embodiment, a plug 4 is provided at one end of the guide tube 3 away from the guide head 2, a limit channel 51 is provided on the slide bar 5, the plug 4 is located in the limit channel 51 and is slidably connected to the inner wall thereof, and an end of the rotating drum 8 away from the guide head 2 is rotatably connected to the plug 4. A spring 9 is sleeved on the rotating drum 8, and the two ends of the spring 9 are respectively in contact with the end of the limit channel 51 close to the guide head 2 and the plug 4.

[0034] In this embodiment, the cooperation between the plug 4 and the limiting channel 51 limits the slide rod 5, and at the same time, the tension of the spring 9 is used to make each slide rod 5 extend and retract synchronously, thereby ensuring that the main box 1 and the guide head 2 are in the center of the pipeline.

[0035] 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 inspection robot with adaptive pipe diameter, characterized in that: include A main box (1), with two ends of the main box (1) respectively connected to a guide head (2), an annular oil chamber (201) being arranged in the guide head (2), and a plurality of guide tubes (3) in communication with the annular oil chamber (201) being arranged on the guide head (2) in an annular array around its axis; A slide rod (5), one end of which is inserted into the guide tube (3) and slidably connected to the inner wall thereof, and a rotating shaft (6) rotatably connected to the slide rod (5) is disposed at one end of the slide rod (5) away from the main box (1), and the rotating shaft (6) is coaxially connected to the roller (7); A rotating drum (8) is rotatably connected to the main housing (1), each rotating drum (8) is inserted into the guide tube (3) on the corresponding side, a spline shaft (10) is arranged in the rotating drum (8) and slides along its radial direction, and the spline shaft (10) is inserted into the slide bar (5) and is rotatably connected thereto; A transmission assembly A, the transmission assembly A transmission-connects the spline shaft (10) and the rotating shaft (6); A driving assembly, each driving assembly is connected to the guide head (2) on the corresponding side and drives each rotating drum (8) on the guide head (2) on the corresponding side to rotate synchronously; An annular mounting shell (16), the annular mounting shell (16) is sleeved on the outer wall of the main housing (1) and is coaxial therewith, and a plurality of X-ray flaw detectors (17) are arranged on the annular mounting shell (16) in an annular array around its axis; A transmission assembly B, the transmission assembly B is connected to the main chassis (1) and is transmission-connected to the annular mounting shell (16) and one of the drive assemblies, so as to drive the annular mounting shell (16) to rotate through the drive assembly; And an oil pumping mechanism, which is connected to the main housing (1) and synchronously communicates with the annular oil chambers (201) in the guide heads (2) on both sides.

2. The pipeline detection robot with adaptive pipe diameter according to claim 1, characterized in that: The guide head (2) is provided with a plurality of through holes (202) which are in communication with the interior of the annular oil chamber (201), and each through hole (202) is in communication with a guide tube (3) on a corresponding side.

3. The pipeline detection robot with adaptive pipe diameter according to claim 1, characterized in that: The oil pump mechanism comprises a hydraulic oil pump (22), the output end of the hydraulic oil pump (22) being connected to a flow guide tube (23); an oil injection hole (203) connected to the annular oil chamber (201) is provided on the guide head (2), and the output end of the flow guide tube (23) is connected to the oil injection holes (203) on both sides.

4. The pipeline detection robot with adaptive pipe diameter according to claim 1, characterized in that: The transmission assembly A comprises bevel gears A (11), each bevel gear A (11) is coaxially connected to the rotating shaft (6) and the spline shaft (10) on the corresponding side, and two bevel gears A (11) in the same group are meshed.

5. The pipeline detection robot with adaptive pipe diameter according to claim 1, characterized in that: The driving assembly comprises a motor (14), a cavity (204) is arranged in the guide head (2), a bevel gear C (13) rotatably connected to the guide head (2) is arranged in the cavity (204), each rotating cylinder (8) is respectively inserted into the cavity (204) of the corresponding side guide head (2) and is coaxially connected to a bevel gear B (12), the bevel gear B (12) in each guide head (2) is meshed with the bevel gear C (13), the body of the motor (14) is connected to the guide head (2), and the output end of the motor (14) is coaxially connected to the bevel gear C (13).

6. The pipeline inspection robot with adaptive pipe diameter according to claim 1, characterized in that: The guide head (2) comprises a guide head A (2a) and a guide head B (2b), and the guide head A (2a) and the guide head B (2b) have the same structure; the guide head A (2a) is integrally connected to the main chassis (1), a universal joint (101) is arranged at one end of the main chassis (1) away from the guide head A (2a), and the guide head B (2b) is connected to one end of the universal joint (101) away from the main chassis (1).

7. The pipeline inspection robot with adaptive pipe diameter according to claim 6, characterized in that: The transmission assembly B comprises an inner gear ring (18), a gear A (19) and a gear B (21); two limiting rings (15) are symmetrically arranged on the outer wall of the main housing (1); annular grooves are arranged between the limiting rings (15) on both sides and the main housing (1); a side hole (102) communicating with the inside of the main housing (1) and the annular grooves is arranged on the main housing (1); an annular mounting shell (16) is sleeved on the outside of the two limiting rings (15) and rotates coaxially with the main housing (1) and the limiting rings (15); the inner gear ring (18) is connected to the inner wall of the annular mounting shell (16); and the inner gear ring (18) Inserted into the annular groove, the gear A (19) is located inside the side hole (102) and is rotatably connected to the main housing (1), and the gear A (19) is located inside the inner gear ring (18) and meshes with the inner gear ring (18), the guide head A (2a) is coaxially connected to the transmission shaft (20), the transmission shaft (20) is inserted into the main housing (1) and is rotatably connected thereto, the gear B (21) is coaxially connected to the transmission shaft (20), and the gear B (21) is meshed with the gear A (06), and the transmission shaft (20) is coaxially connected to the bevel gear C (13) in the guide head A (2a).

8. The pipeline inspection robot with adaptive pipe diameter according to claim 1, characterized in that: A wireless receiver, a wireless transmitter, a controller, a locator and an energy storage battery are arranged in the main box (1); the wireless receiver, the wireless transmitter and the locator are all electrically connected to the controller, and the energy storage battery is all electrically connected to each electrical component.

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