Device and robot for moving the inner surface of pressurized pipeline
By designing the inner surface motion device of the pressurized pipe, the rotation and telescopic power modules are used to achieve stable motion in the pipe, the problem of unstable movement of existing equipment in complex environments is solved, and the detection efficiency and accuracy are improved.
Patent Information
- Application Number
- CN202411948263.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-04-08
AI Technical Summary
Existing pressure-loaded pipeline detection equipment is difficult to move stably in complex and variable pipeline environments, especially under strong turbulent fluid conditions, and cannot adapt to pipelines of different sizes and shapes, resulting in a decrease in detection efficiency and accuracy.
A pressurized pipe inner surface movement device is designed, including a housing, a walking module, a rotary power module and a telescopic power module. The walking module realizes rotation and telescopic movement through transmissions and movable arms, can spiral forward on the pipe wall, and adapts to pipes of different sizes through telescopic power modules.
It realizes stable movement in pipes of different sizes and shapes, improves the flexibility and adaptability of the detection equipment, and enhances the detection efficiency and accuracy of the internal environment of the pipeline.
Smart Images
Figure CN119778580A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of pipeline detection, and in particular to a pressurized pipeline inner surface movement device and pressurized pipeline internal detection equipment. Background Art
[0002] As a rapidly developing detection method, the pressurized pipeline in-pipe detection technology has gained wide attention due to its unique advantages. This technology uses the fluid in the pipeline as the driving force. The detection equipment can not only realize the direct observation of the internal environment of the pipeline, but also has the function of monitoring the sound of leakage inside the pipeline. Compared with traditional detection methods (such as correlation method or listening rod method), the detection equipment can more intuitively display the internal condition of the pipeline and accurately locate the leakage point of the pipeline, thereby significantly improving the detection efficiency and accuracy. This technological innovation not only simplifies the detection process and reduces the dependence on the operator's experience, but also provides strong technical support for the rapid response and efficient maintenance of the water supply system. It is of great significance to ensure the safety of urban water supply and reduce the waste of water resources.
[0003] However, in the face of complex and changing pipeline environments, especially under highly turbulent fluid conditions, it is difficult for detection equipment to move stably. Even with the use of power-assisted mechanisms such as propellers, it is difficult to maintain an ideal stable state in a changing dynamic environment. Therefore, the development of detection equipment and its supporting technologies that can adapt to various harsh pipeline environments has become a key issue that needs to be solved urgently. However, existing detection equipment can only run along the wall of fixed-size pipelines, and cannot flexibly adjust its state to adapt to different pipeline environments, and thus cannot be compatible with the detection of different pipelines. Summary of the invention
[0004] The main purpose of the present invention is to provide a device for moving the inner surface of a pressurized pipeline, which is used to achieve stable movement in different pipelines, thereby being compatible with the detection of different pipelines.
[0005] In order to achieve the above-mentioned purpose, the device for moving the inner surface of a pressurized pipeline proposed by the present invention comprises:
[0006] A housing having two sides disposed opposite to each other;
[0007] Two walking modules, the two walking modules are respectively arranged on both sides of the shell, the walking modules include a transmission member and a movable arm, the transmission member is rotatably arranged on the shell, and the movable arm is installed on the shell through the transmission member;
[0008] A rotating power module, the rotating power module is transmission-connected to the transmission members of the two walking modules so that the movable arms of the two walking modules rotate along with the transmission members; and
[0009] The telescopic power module, the movable arm can be telescopic along its length direction, and the telescopic power module is transmission-connected to the movable arms of the two walking modules so that the movable arms of the two walking modules can perform telescopic movement.
[0010] Optionally, the movable arm includes a telescopic component and a power wheel, the telescopic component is installed on the transmission member, the telescopic power module is transmission-connected to the telescopic component, so that the telescopic power module drives the telescopic component to telescopically move, and the end of the telescopic component away from the telescopic power module is connected to the power wheel, and the power wheel moves with the telescopic component.
[0011] Optionally, the telescopic assembly includes a rotating member and two connecting rod structures, the two connecting rod structures are respectively rotatably arranged on the transmission member, the connecting rod structure is connected to the rotating member and the power wheel, the middle parts of the two connecting rod structures are hinged, and the telescopic power module is connected to the two connecting rod structures through the rotating member transmission, so that the two connecting rod structures can perform telescopic movement with the rotation of the rotating member.
[0012] Optionally, the rotating member includes an input gear and two output gears, the two output gears are arranged opposite to each other and are respectively connected to the two connecting rod structures, the two output gears are meshed with the input gear, and the telescopic power module is connected to the two output gears through the input gear transmission, so that the input gear drives the two connecting rod structures to perform telescopic movement.
[0013] Optionally, the connecting rod structure includes multiple connecting rods, the head and tail ends of the multiple connecting rods are hinged in sequence, the connecting rods in the middle of the two connecting rod structures are hinged, the connecting rods at the head and tail ends are respectively connected to the transmission member and the power wheel, the connecting rod away from the power wheel is installed on the output gear, and the input gear is transmitted to the connecting rod through the output gear.
[0014] Optionally, the transmission member includes a transmission gear and a mounting seat, the transmission gear is arranged on the mounting seat, the rotary power module is transmission-connected to the transmission gear, the mounting seat has two sides arranged back to back, and the two connecting rod structures are rotatably arranged on both sides of the mounting seat.
[0015] Optionally, the rotary power module includes a first power gear and a first input shaft, the first input shaft is transmission-connected to the first power gear, and the transmission gears of the two walking modules are respectively arranged on both sides of the first power gear and respectively meshed with the first power gear, so that the two walking modules move synchronously.
[0016] Optionally, the input gear includes a first gear structure and a second gear structure arranged back to back, the telescopic power module is transmission-connected to the first gear structure to drive the first gear structure to rotate, and the two output gears are respectively engaged with the second gear structure so that the two output gears rotate synchronously with the first gear structure.
[0017] Optionally, the telescopic power module includes a second power gear and a second input shaft, the second input shaft is transmission-connected to the second power gear, and the first gear structures of the two walking modules are respectively arranged on both sides of the second power gear and meshed with the second power gear, so that the two walking modules move synchronously.
[0018] The present invention further proposes a robot, comprising: a detector and the above-mentioned pressurized pipeline inner surface movement device, wherein the detector is mounted on the pressurized pipeline inner surface movement device.
[0019] In the technical solution of the present invention, the shell has two sides that are arranged back to back, and the two walking modules are respectively arranged on the two sides of the shell. The walking module includes a transmission member and a movable arm. The transmission member can be rotatably arranged on the shell, and the rotary power module is transmission-connected to the transmission member of the two walking modules. The movable arm is installed on the shell through the transmission member. In this way, when the pressurized pipeline inner surface motion device is placed in the pipe, the movable arm realizes the rotation in the circumferential direction of the pipe wall, thereby forming a spiral advance in the pipe under the support of the external linear motion drive. In addition, the movable arm can be telescopic along its length direction, and the telescopic power module is transmission-connected to the movable arms of the two walking modules. In this way, the movable arms of the two walking modules are in contact with the inner walls of pipes of different sizes through telescopic movement, thereby realizing stable movement in pipes of different sizes. When the detector is mounted on the pressurized pipeline inner surface motion device, detection of different pipes is realized. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.
[0021] Figure 1 This is a diagram of a retracted state of a pressurized pipeline inner surface moving device according to an embodiment of the present invention;
[0022] Figure 2 for Figure 1 Split structure diagram of the inner surface motion device of the medium pressure pipeline;
[0023] Figure 3 for Figure 1A schematic diagram of the structure of the inner surface motion device of a medium-pressure pipeline from another perspective;
[0024] Figure 4 for Figure 1 The structural diagram of the walking module;
[0025] Figure 5 for Figure 4 Diagram of the extended state of the walking module;
[0026] Figure 6 for Figure 4 The split structure diagram of the middle transmission part and the telescopic component;
[0027] Figure 7 for Figure 6 Assembly effect diagram of the telescopic component in the middle;
[0028] Figure 8 for Figure 1 The spiral advance effect diagram of the inner surface motion device of the medium pressure pipeline;
[0029] Fig. 9 for Figure 1 The effect diagram of the extended state of the inner surface movement device of the medium pressure pipeline;
[0030] Fig.10 This is a schematic diagram of the robot's structure;
[0031] Description of Figure Numbers:
[0032] name Label name Label case 100 Active Arm 240 Fixing holes 100a Telescopic components 250 Bearings 101 Rotating parts 251 Walking module 200 Connecting rod structure 252 First gear structure 201 First connecting rod 253 Second gear structure 202 Second connecting rod 254 Input gear 203 Third Link 255 Output gear 204 Power Wheel 260 Transmission parts 220 Rotary power module 400 Transmission gear 221 First power gear 410 Mounting Block 222 First input shaft 430 Install the shaft 223 Telescopic power module 600 Splice shaft 224 Second power gear 610 Connectors 231 Second input shaft 630 Decorative cover 232 Cabin 800
[0033] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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.
[0035] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.
[0036] See also Figures 1 to 9As shown, in one embodiment of the present invention, a device for moving the inner surface of a pressurized pipeline includes: a shell 100, the shell 100 has two sides arranged back to back; two walking modules 200, the two walking modules 200 are respectively arranged on both sides of the shell 100, the walking module 200 includes a transmission member 220 and a movable arm 240, the transmission member 220 can be rotatably arranged on the shell 100, and the movable arm 240 is installed on the shell 100 through the transmission member 220; a rotating power module 400, the rotating power module 400 is transmission-connected to the transmission members 220 of the two walking modules 200, so that the movable arms 240 of the two walking modules 200 rotate with their transmission members 220; and a telescopic power module 600, the movable arm 240 can be telescopic along its length direction, and the telescopic power module 600 is transmission-connected to the movable arms 240 of the two walking modules 200, so that the movable arms 240 of the two walking modules 200 perform telescopic movement.
[0037] In the technical solution of the present invention, the housing 100 has two sides arranged back to back, and the two walking modules 200 are respectively arranged on the two sides of the housing 100. The walking module 200 includes a transmission member 220 and a movable arm 240. The transmission member 220 can be rotatably arranged on the housing 100. The rotary power module 400 is connected to the transmission member 220 of the two walking modules 200 by transmission. The movable arm 240 is installed on the housing 100 through the transmission member 220. In this way, when the inner surface motion device of the pressurized pipeline is placed in the pipe, the movable arm 240 realizes the rotation in the circumferential direction of the pipe wall, thereby forming a spiral advance in the pipe under the support of the external linear motion drive. In addition, the movable arm 240 can be telescopic along its length direction, and the telescopic power module 600 is connected to the movable arm 240 of the two walking modules 200 by transmission. In this way, the movable arm 240 of the two walking modules 200 contacts the inner wall of the pipes of different sizes through telescopic movement, thereby realizing stable movement in pipes of different sizes. When the detector is mounted on the pressurized pipeline inner surface motion device, detection of different pipelines is achieved.
[0038] It should be noted that the rotating power module 400 and the telescopic power module 600 may include a driving module, and power is provided by the driving module so that the rotating power module 400 drives the movable arm 240 to rotate and the telescopic power module 600 drives the movable arm 240 to telescopic. Of course, the rotating power module 400 and the telescopic power module 600 may also be driven manually, and the present embodiment is not limited thereto. All of the above are within the protection scope of the present invention. Supplementary explanation: In the present embodiment, the two walking modules 200 are symmetrically arranged on the left and right sides of the shell 100, and the center angle between the two walking modules 200 is between 60° and 150°. The rotating power module 400 and the telescopic power module 600 are symmetrically arranged on the front and back sides of the shell 100. Optionally, see Figure 3As shown, the central angle between the two walking modules 200 is 120°, and the rotating power module 400 and the telescopic power module 600 are coaxially arranged, which not only optimizes the space utilization but also ensures the stability of the movement of the device in the pipe.
[0039] See also Figures 1 to 9 As shown, in one embodiment of the present invention, the movable arm 240 includes a telescopic component 250 and a power wheel 260, the telescopic component 250 is installed on the transmission member 220, and the telescopic power module 600 is connected to the telescopic component 250 in a transmission manner, so that the telescopic power module 600 drives the telescopic component 250 to telescopically move, and the end of the telescopic component 250 away from the telescopic power module 600 is connected to the power wheel 260, and the power wheel 260 moves with the telescopic component 250. In order to avoid damage caused by friction with the pipe wall, the power wheel 260 can be a rubber wheel, and the rubber wheel runs on the pipe wall. It should be noted that the telescopic component 250 can be a folding structure, and the telescopic structure is driven to open and close to achieve telescopic, and the telescopic component 250 can also be a sleeve structure, and the telescopic structure is driven to move to achieve telescopic, as long as it can be telescopic relative to the shell 100, this embodiment is not limited to this, and the above are all within the protection scope of the present invention. The power wheel 260 of the present embodiment contacts the pipe wall as the telescopic assembly 250 performs telescopic movement, thereby avoiding friction damage to the pipe wall and achieving stable movement on the pipe wall, so as to realize the movement of the entire device. In this way, when the detector is mounted on the device, comprehensive detection of the pipeline is realized. Of course, the movement direction of the device can also be controlled to achieve effective detection of the pipe wall at different positions of the pipeline.
[0040] See also Figures 1 to 9As shown, in one embodiment of the present invention, the telescopic assembly 250 includes a rotating member 251 and two connecting rod structures 252, the two connecting rod structures 252 are rotatably arranged on the transmission member 220, the connecting rod structure 220 is connected to the rotating member 251 and the power wheel 260, the middle parts of the two connecting rod structures 252 are hinged, and the telescopic power module 600 is connected to the two connecting rod structures 252 through the rotating member 251, so that the two connecting rod structures 252 perform telescopic movement with the rotation of the rotating member 251. It should be noted that the telescopic power module 600 drives the rotating member 251 to rotate, the connecting rod structure 252 is rotatably arranged on the transmission member 220, and the end of the connecting rod structure 252 away from the transmission member 220 is hinged to the power wheel 260. Under the influence of the rotation of the rotating member 251, the two connecting rod structures 252 that can be rotatably connected move relative to each other and perform telescopic movement. Of course, in this embodiment, the direction of rotation of the rotating member 251 can be adjusted to adjust the extension or retraction of the two connecting rod structures 252. Specifically, when the telescopic power module 600 drives the rotating part 251 to rotate counterclockwise, the two connecting rod structures 252 move toward each other to open, so that the movable arm 240 contacts the pipe wall and moves along the pipe wall; conversely, when the telescopic power module 600 drives the rotating part 251 to rotate clockwise, the two connecting rod structures 252 move away from each other to fold, so that the movable arm 240 retracts toward the shell 100, which is conducive to deploying the device in small pipes or curved pipes, thereby providing unprecedented convenience and flexibility.
[0041] See also Figures 1 to 9As shown, in one embodiment of the present invention, the rotating member 251 includes an input gear 203 and two output gears 204, the two output gears 204 are arranged opposite to each other and are respectively connected to the two connecting rod structures 252, the two output gears 204 are meshed with the input gear 203, and the telescopic power module 600 is connected to the two output gears 204 through the input gear 203, so that the input gear 203 drives the two connecting rod structures 252 to perform telescopic movement by rotating. It should be noted that in this embodiment, the input gear 203 is rotated by the transmission of the telescopic power module 600, and the two output gears 204 are arranged on both sides of the input gear 203 along the radial direction of the input gear 203. The input gear 203 is meshed with the two output gears 204 at the same time, so that the input gear 203 synchronously drives the two output gears 204 to move in opposite directions, so that the two output gears 204 moving in opposite directions respectively drive the two connecting rod structures 252, so that the two connecting rod structures 252 move in different directions and rotate relative to the transmission member 220 to achieve telescopic movement. Supplementary explanation: In this embodiment, the output gear 204 is fixedly connected to the connecting rod structure 252. Of course, the fixed connection method can be threaded connection, welding, riveting, etc. This embodiment is not limited to this, and all of the above are within the protection scope of the present invention. Of course, the input gear 203 of this embodiment can be connected to the rotating output end of the driving module, and the input gear 203 is set at the rotating output end of the driving module to drive the input gear 203. The input gear 203 can also be engaged with the power gear of the driving module, so as to realize the rotation of the input gear 203 through gear engagement. This embodiment is not limited to this, and all of the above are within the protection scope of the present invention.
[0042] See also Figures 1 to 9 As shown, in one embodiment of the present invention, the connecting rod structure 252 includes a plurality of connecting rods, the head and tail ends of the plurality of connecting rods are hinged in sequence, the connecting rods in the middle of the two connecting rod structures 252 are hinged, the connecting rods at the head and tail ends are respectively connected to the transmission member 220 and the power wheel 260, the connecting rod away from the power wheel 260 is installed on the output gear 204, and the input gear 203 is transmitted to the connecting rod through the output gear 204. Specifically, the connecting rod structure 252 includes a first connecting rod 253, a second connecting rod 254 and a third connecting rod 255. The ends of the second connecting rod 254 are hinged to the first connecting rod 253 and the third connecting rod 255 respectively. The end of the first connecting rod 253 away from the second connecting rod 254 is rotatably connected to the transmission member 220, and the end of the third connecting rod 255 away from the second connecting rod 254 is hinged to the power wheel 260. The middle parts of the second connecting rods 254 of the two connecting rod structures 252 are hinged. In this way, the input gear 203 drives the two output gears 204 to rotate. Under the influence of the rotation of the two output gears 204, the two connecting rod structures 252 undergo relative movement to achieve extension and retraction, thereby achieving stable movement in different pipelines.
[0043] See also Figures 1 to 9As shown, in one embodiment of the present invention, the transmission member 220 includes a transmission gear 221 and a mounting seat 222, the transmission gear 221 is arranged on the mounting seat 222, the rotary power module 400 is transmission-connected to the transmission gear 221, the mounting seat 222 has two sides arranged back to back, and two connecting rod structures 252 are rotatably arranged on both sides of the mounting seat 222. It should be noted that in this embodiment, two fixing holes 100a are arranged on the two sides arranged back to back of the housing 100, and bearings 101 are installed in the fixing holes 100a. The transmission gear 221 is rotatably installed on the housing 100 through the bearings 101, thereby reducing the rotational friction of the transmission gear 221. Specifically, the mounting seat 222 is fixedly connected to the transmission gear 221, and the mounting seat 222 can be fixedly connected to the transmission gear 221 through a connecting piece 231. Of course, a decorative cover 232 can also be provided, and the decorative cover 232 is installed on the housing 100 through a bearing 101. The mounting seat 222 has two mounting shafts 223 arranged back to back, and two connecting rod structures 252 are respectively installed on the mounting shafts 223 of the mounting seat 222. A plug-in shaft 224 is also provided between the two mounting shafts 223. The input gear 203 can be rotatably connected to the mounting seat 222 by cooperating with the plug-in shaft 224, thereby avoiding the mounting seat 222 being affected by the rotation of the input gear 203, thereby improving the stability of the rotation of the input gear 203.
[0044] See also Figures 1 to 9 As shown, in one embodiment of the present invention, the rotary power module 400 includes a first power gear 410 and a first input shaft 430, the first input shaft 430 is connected to the first power gear 410 by transmission, and the transmission gears 221 of the two walking modules 200 are respectively arranged on both sides of the first power gear 410 and respectively meshed with the first power gear 410, so that the two walking modules 200 move synchronously. It should be noted that in this embodiment, the transmission gears 221 of the two walking modules 200 are driven to move synchronously by the first power gear 410, so as to synchronously drive the two movable arms 240 of the two walking modules 200, thereby realizing the spiral advancement on the pipe wall. When the device is equipped with a detector, the threaded advancement of the movable arm 240 is conducive to comprehensive detection of the pipe wall, thereby improving the accuracy of pipeline detection.
[0045] See also Figures 1 to 9As shown, in one embodiment of the present invention, the input gear 203 includes a first gear structure 201 and a second gear structure 202 that are arranged back to back, and the telescopic power module 600 is connected to the first gear structure 201 in a transmission manner, and is used to drive the first gear structure 201 to rotate, and the two output gears 204 are respectively meshed with the second gear structure 202, so that the two output gears 204 rotate synchronously with the first gear structure 201. It should be noted that the present invention drives the first gear structure 201 to rotate through the telescopic power module 600, and the second gear structure rotates with the first gear structure 201, and the second gear structure 202 is simultaneously meshed with the two output gears 204, so that the telescopic movement of the movable arm 240 is realized through the gear meshing rotation. In this way, the telescopic movement of the movable arm 240 is realized through a single rotation input, thereby giving the device unprecedented flexibility and adaptability.
[0046] See also Figures 1 to 9 As shown, in one embodiment of the present invention, the telescopic power module 600 includes a second power gear 610 and a second input shaft 630, the second input shaft 630 is connected to the second power gear 610 in a transmission manner, and the first gear structures 201 of the two walking modules 200 are respectively arranged on both sides of the second power gear 610 and meshed with the second power gear 610, so that the two walking modules 200 can move synchronously. It should be noted that in this embodiment, the second gear structures 202 of the two walking modules 200 are driven to move synchronously by the second power gear 610, so as to be synchronously connected to the two movable arms 240, thereby achieving stable movement on the pipe wall. In addition, in this embodiment, the telescopic movement of the two walking modules 200 is achieved through a single controlled rotation input, and another independent rotation input achieves the synchronous rotation of the two walking modules 200, thereby giving the device unprecedented flexibility and adaptability. In addition, during the process of the rotating power module 400 transmitting the rotation of the movable arm 240, the second power gear 610 of the telescopic power module 600 engages with the movable arm 240. In order to prevent the movable arm 240 from being blocked by the second power gear 610 and unable to rotate, the present embodiment can control the second power gear 610 to rotate synchronously with the first power gear 410, thereby ensuring the normal rotation of the movable arm 240, thereby realizing the spiral advancement of the device.
[0047] See also Fig.10As shown, in one embodiment of the present invention, the robot of this embodiment includes: a detector and a pressurized pipeline inner surface motion device, and the detector is mounted on the pressurized pipeline inner surface motion device. It should be noted that the pressurized pipeline inner surface motion device can be set in the robot cabin 800, and the robot also includes a steering gear, which provides rotational input power to the two input shafts of the pressurized pipeline inner surface motion device. The pressurized pipeline inner surface motion device serves as an execution end. Under the power of the steering gear, the pressurized pipeline inner surface motion device moves forward along the pipeline thread, and the detector detects the pipe wall during the process of the pressurized pipeline inner surface motion device moving forward, thereby achieving comprehensive detection of the pipe wall.
[0048] This embodiment realizes the telescopic movement of the walking module 200 through a single controlled rotation input, and another independent rotation input realizes the synchronous rotation of the two walking modules 200. The robot based on the above structural design can not only closely fit the pipe wall for stable forward movement, but also has the ability to perform complex operations such as circular motion and spiral advancement, which greatly broadens its application potential in different pipeline environments. In particular, the telescopic transmission design of the walking module 200 is exquisite, ensuring that the robot can easily pass through and be deployed at the entrance of a small pipeline, providing unprecedented convenience and flexibility for pipeline inspection operations. In order to ensure that the robot is smoothly placed in the pipe, this embodiment adjusts the inner surface motion device of the pressurized pipeline to a retracted state, thereby avoiding the risk of accidental extension and jamming of the power wheel 260 during the placement process, greatly improving the safety and convenience of the operation, providing a strong guarantee for the rapid deployment and efficient operation of the robot, and ensuring that the device is smoothly placed in the pipe; when pipeline inspection is required, the inner surface motion device of the pressurized pipeline is adjusted to an extended state, and the power wheel 260 contacts the pipe wall, thereby ensuring stable operation in the pipe.
[0049] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.
Claims
1. A device for moving the inner surface of a pressurized pipeline, characterized in that: include: A housing having two sides disposed opposite to each other; Two walking modules, the two walking modules are respectively arranged on both sides of the shell, the walking modules include a transmission member and a movable arm, the transmission member is rotatably arranged on the shell, and the movable arm is installed on the shell through the transmission member; A rotating power module, the rotating power module is transmission-connected to the transmission members of the two walking modules so that the movable arms of the two walking modules rotate along with the transmission members; and The telescopic power module, the movable arm can be telescopic along its length direction, and the telescopic power module is transmission-connected to the movable arms of the two walking modules so that the movable arms of the two walking modules can perform telescopic movement.
2. The device for moving the inner surface of a pressurized pipeline according to claim 1, characterized in that: The movable arm includes a telescopic component and a power wheel. The telescopic component is installed on the transmission member. The telescopic power module is transmission-connected to the telescopic component so that the telescopic power module drives the telescopic component to move telescopically. The end of the telescopic component away from the telescopic power module is connected to the power wheel, and the power wheel moves with the telescopic component.
3. The device for moving the inner surface of a pressurized pipeline according to claim 2, characterized in that: The telescopic assembly includes a rotating member and two connecting rod structures, the two connecting rod structures are rotatably arranged on the transmission member respectively, the connecting rod structure is connected to the rotating member and the power wheel, the middle parts of the two connecting rod structures are hinged, and the telescopic power module is connected to the two connecting rod structures through the rotating member transmission, so that the two connecting rod structures can perform telescopic movement with the rotation of the rotating member.
4. The device for moving the inner surface of a pressurized pipeline according to claim 3, characterized in that: The rotating member includes an input gear and two output gears, the two output gears are arranged opposite to each other and are respectively connected to the two connecting rod structures, the two output gears are meshed with the input gear, and the telescopic power module is connected to the two output gears through the input gear transmission, so that the input gear drives the two connecting rod structures to perform telescopic movement.
5. The device for moving the inner surface of a pressurized pipeline according to claim 4, characterized in that: The connecting rod structure includes multiple connecting rods, the head and tail ends of the multiple connecting rods are hinged in sequence, the connecting rods in the middle of the two connecting rod structures are hinged, the connecting rods at the head and tail ends are respectively connected to the transmission member and the power wheel, the connecting rod away from the power wheel is installed on the output gear, and the input gear is transmitted to the connecting rod through the output gear.
6. The device for moving the inner surface of a pressurized pipeline according to claim 4, characterized in that: The transmission member includes a transmission gear and a mounting seat, the transmission gear is arranged on the mounting seat, the rotary power module is transmission-connected to the transmission gear, the mounting seat has two sides arranged back to back, and the two connecting rod structures are rotatably arranged on both sides of the mounting seat.
7. The device for moving the inner surface of a pressurized pipeline according to claim 6, characterized in that: The rotary power module includes a first power gear and a first input shaft, the first input shaft is transmission-connected to the first power gear, and the transmission gears of the two walking modules are respectively arranged on both sides of the first power gear and respectively meshed with the first power gear, so that the two walking modules move synchronously.
8. The device for moving the inner surface of a pressurized pipeline according to claim 4, characterized in that: The input gear includes a first gear structure and a second gear structure arranged back to back. The telescopic power module is transmission-connected to the first gear structure to drive the first gear structure to rotate. The two output gears are respectively engaged with the second gear structure so that the two output gears rotate synchronously with the first gear structure.
9. The device for moving the inner surface of a pressurized pipeline according to claim 8, characterized in that: The telescopic power module includes a second power gear and a second input shaft, the second input shaft is transmission-connected to the second power gear, and the first gear structures of the two walking modules are respectively arranged on both sides of the second power gear and meshed with the second power gear, so that the two walking modules move synchronously.
10. A robot, characterized in that: include: A detector and a pressurized pipe inner surface movement device according to any one of claims 1 to 9, wherein the detector is mounted on the pressurized pipe inner surface movement device.