Driving device of detection robot in pipeline

Abstract

The invention relates to the technical field of pipeline detection, in particular to a pipeline interior detection robot driving device which comprises a base, a support and a track set device, the track set device is connected with the base, and the track set device comprises a mounting base, a track, a first track wheel, a second track wheel, a first elastic obstacle avoidance mechanism, a first supporting wheel and a second supporting wheel. The mounting base is fixed to the support, the first crawler wheel and the second crawler wheel are arranged at the two ends of the mounting base respectively, the first supporting wheel is mounted at one end of the first elastic obstacle avoidance mechanism, the second supporting wheel is mounted at the other end of the first elastic obstacle avoidance mechanism, and the first elastic obstacle avoidance mechanism is arranged in the mounting base and located between the first crawler wheel and the second crawler wheel. The first supporting wheel and the second supporting wheel are oppositely supported on the crawler belt, a power component is arranged on an installation base of the crawler belt set device, and the power output end of the power component is connected with the first crawler wheel of the crawler belt set device. And in the pipeline advancing process, the flexibility is better, and the application range is wider.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline detection, and in particular to a driving device for a pipeline detection robot. Background Art

[0002] With the rapid development of urban construction, underground pipe network systems are becoming increasingly large and complex. As an important non-destructive testing method, pipeline inspection robots play a key role in pipeline integrity assessment and maintenance. However, the pipeline inspection robots currently on the market have low flexibility and a narrow scope of application. They still face many challenges in practical applications: First, most existing inspection robots are designed for specific pipe diameters and are difficult to adapt to changes in pipe diameters, which seriously limits their scope of application; second, there are often various obstacles inside the pipeline, such as pipe joints, elbows, branches, etc. Conventional drive mechanisms are difficult to effectively cross these obstacles, resulting in the inability to successfully complete the inspection task. Summary of the invention

[0003] The present application aims to solve at least one of the above technical problems in the prior art to a certain extent. To this end, the present application provides a driving device for a pipeline inspection robot, which has better flexibility and a wider range of applications during the pipeline travel process.

[0004] A driving device for an in-pipeline inspection robot comprises a base, a bracket and at least two track assembly devices, each of the track assembly devices is connected to the base through the bracket, and each of the track assembly devices is spaced around the periphery of the base, and the track assembly device comprises a mounting seat, a track, a first track wheel, a second track wheel, a first elastic obstacle avoidance mechanism, a first support wheel and a second support wheel, the mounting seat is fixed to the bracket, the first track wheel and the second track wheel are respectively arranged at both ends of the mounting seat, a plurality of the first support wheels are installed at one end of the first elastic obstacle avoidance mechanism, and a plurality of the second support wheels are installed at the other end, and the first elastic obstacle avoidance mechanism The first support wheel and the second support wheel are supported on the track between the first track wheel and the second track wheel. The first elastic obstacle avoidance mechanism has at least two elastic movable ends, one of which is connected to the mounting seat, and the other elastic movable ends are connected to the first support wheel and / or the second support wheel. Among at least two track assembly devices, at least one track assembly device has a power component disposed on the mounting seat, and a power output end of the power component is connected to the first track wheel of the track assembly device.

[0005] In an optional or preferred embodiment, the first elastic obstacle avoidance mechanism includes a support rod, a connecting beam and a spring, the first support wheel and the second support wheel are respectively installed at both ends of the support rod, the connecting beam is slidably assembled on the support rod, the two ends of the connecting beam are fixed to the mounting seat, the spring is sleeved on the support rod, one end of the spring is pressed against the connecting beam, and the other end is pressed against the connection between the support rod and the first support wheel.

[0006] In an optional or preferred embodiment, two first elastic obstacle avoidance mechanisms are provided, and the two first elastic obstacle avoidance mechanisms are spaced apart along the length direction of the crawler track.

[0007] In an optional or preferred embodiment, three crawler track assembly devices are provided, and the angles between the three crawler track assembly devices are 120° to each other.

[0008] In an optional or preferred embodiment, the power component is arranged on the mounting seats of two of the track assembly devices.

[0009] In an optional or preferred embodiment, a protective shell is provided on the outside of the power component, the protective shell is connected to the mounting seat, and heat dissipation holes are provided on the protective shell.

[0010] In an optional or preferred embodiment, the power output end of the power component is connected to the first track wheel via a transmission mechanism.

[0011] In an optional or preferred embodiment, the transmission mechanism includes a first bevel gear and a second bevel gear, the first bevel gear is fixed at the power output end of the power component, the second bevel gear is arranged on the mounting seat and is coaxially connected to the first track wheel, and the first bevel gear and the second bevel gear are meshed with each other.

[0012] In an optional or preferred embodiment, the bracket includes a base plate, a first scissors strut and a second scissors strut, the base plate is fixed on the base, the first scissors strut and the second scissors strut are both fixed on the base plate, the first scissors strut and the second scissors strut are relatively spaced apart on the base plate, a first side panel is installed at one end of the first scissors strut away from the base plate, a second side panel aligned with the first side panel is installed at one end of the second scissors strut away from the base plate, and the first side panel and the second side panel form the mounting seat.

[0013] In an optional or preferred embodiment, a camera is installed at the front end of the base.

[0014] Based on the above technical solution, the embodiment of the present application has at least the following beneficial effects: during operation, when the crawler on the crawler assembly device encounters an obstacle or a pipe wall with a reduced diameter, under the influence of the reaction force, the first support wheel will drive the first elastic obstacle avoidance mechanism to compress to avoid obstacles or adapt to the reduced diameter, and at the same time the second support wheel will lift up the crawler. When crossing an obstacle or encountering a pipe wall with a widened diameter, the first elastic obstacle avoidance mechanism in a compressed state will cause the first support wheel to lift up the crawler under the action of the rebound force, and at the same time the crawler supported by the second support wheel will retract. Since the length of the crawler remains unchanged, no matter whether it encounters an obstacle or the diameter of the pipe changes, the crawler can always be kept taut by the first elastic obstacle avoidance mechanism. Therefore, the present application has better flexibility and a wider range of applications during the pipeline travel process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present application is further described below with reference to the accompanying drawings and embodiments; Figure 1 is a schematic diagram of the structure of a driving device for an in-pipeline inspection robot provided in an embodiment of the present application; Figure 2 yes Figure 1 A partial structural schematic diagram of the illustrated embodiment.

[0016] Figure numerals: base 11, bracket 12, track assembly 13, camera 111, bottom plate 121, first scissors strut 122, second scissors strut 123, mounting seat 131, track 132, first track wheel 133, second track wheel 134, first elastic obstacle avoidance mechanism 135, first support wheel 136, second support wheel 137, power component 138, protective shell 139, transmission mechanism 140, first bevel gear 141, second bevel gear 142, support rod 1351, connecting beam 1352, spring 1353. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the technical solutions in 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 part of the embodiments of the present application, not all of the 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.

[0018] The following is a further detailed description of the implementation of the present application in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application but cannot be used to limit the scope of the present application.

[0019] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present application. In addition, the terms "", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0020] In the description of the embodiments of the present application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific circumstances.

[0021] In the embodiments of the present application, unless otherwise clearly specified and limited, a feature “above” or “below” the second feature may be in direct contact with the second feature, or in indirect contact with the second feature through an intermediate medium. Moreover, a feature “above”, “above”, and “above” the second feature may mean that the feature is directly above or obliquely above the second feature, or simply means that the horizontal height of the feature is higher than the second feature. A feature “below”, “below”, and “below” the second feature may mean that the feature is directly below or obliquely below the second feature, or simply means that the horizontal height of the feature is lower than the second feature.

[0022] In-pipeline inspection technology is an important means to ensure the safe operation of oil, gas, water conservancy and other pipelines. The existing in-pipeline inspection robot drive device usually adopts a wheeled structure to move in the pipeline to detect defects such as pipeline wall thickness, cracks, corrosion, etc. However, in actual applications, various obstacles are commonly found in pipelines, such as welds, branches, elbows, reducers, etc. The current inspection devices often show obvious limitations when encountering these obstacles, especially in the reducer section. The inspection device is difficult to adapt to the change of pipe diameter due to its rigid structure, which can easily cause detection blind spots or device damage. These problems seriously restrict the efficiency and quality of pipeline inspection, increase inspection costs and safety hazards.

[0023] Reference Figure 1 , Figure 2 The present application provides a high-passability pipeline inspection robot driving device, including a base 11, a bracket 12 and at least two track assembly devices 13.

[0024] Each track assembly 13 is connected to the base 11 through a bracket 12, and each track assembly 13 is spaced around the periphery of the base 11. The track assembly 13 includes a mounting seat 131, a track 132, a first track wheel 133, a second track wheel 134, a first elastic obstacle avoidance mechanism 135, a first support wheel 136, and a second support wheel 137. The mounting seat 131 is fixed to the bracket 12, and the first track wheel 133 and the second track wheel 134 are respectively arranged at both ends of the mounting seat 131. One end of the first elastic obstacle avoidance mechanism 135 is equipped with a plurality of first support wheels 136, and the other end is equipped with a plurality of second support wheels 137. The first elastic obstacle avoidance mechanism 135 is arranged inside the mounting seat 131 and is located between the first track wheel 133 and the second track wheel 134. The plurality of first support wheels 136 and the plurality of second support wheels 137 are supported on the track 132 between the first track wheel 133 and the second track wheel 134. The first elastic obstacle avoidance mechanism 135 has at least two elastic movable ends, one of which is connected to the mounting seat 131, and the other elastic movable ends are connected to the first support wheel 136 and / or the second support wheel 137. Among the at least two track assembly devices 13, at least one track assembly device 13 has a power component 138 arranged on the mounting seat 131, and the power output end of the power component 138 is connected to the first track wheel 133 of the track assembly device 13. The detection section 20 includes a shell 21, a roller 22 and at least three second elastic obstacle avoidance mechanisms 23. The shell 21 is connected to the base 11 of the driving section 10. A strip through hole 2111 is provided on the outer wall of the shell 21. The second elastic obstacle avoidance mechanism 23 is installed on the shell 21 and penetrated in the strip through hole 2111. The second elastic obstacle avoidance mechanisms 23 are arranged at intervals around the shell 21, and the roller 22 is installed at one end of the second elastic obstacle avoidance mechanism 23 located outside the shell 21.

[0025] During operation, when the track 132 on the track assembly device 13 encounters an obstacle or a pipe wall with a reduced diameter, under the influence of the reaction force, the first support wheel 136 will drive the first elastic obstacle avoidance mechanism 135 to compress to avoid obstacles or adapt to the reduced diameter, and at the same time, the second support wheel 137 will lift up the track 132. When crossing an obstacle or facing a pipe wall with a wider diameter, the first elastic obstacle avoidance mechanism 135 in a compressed state will cause the first support wheel 136 to lift up the track 132 under the action of the rebound force, and at the same time, the track 132 supported by the second support wheel 137 will retract. Since the length of the track 132 remains unchanged, no matter whether it encounters an obstacle or the diameter of the pipe changes, the first elastic obstacle avoidance mechanism 135 can always keep the track 132 in a taut state. The present application is capable of realizing adaptive changes in pipe diameter and automatic crossing of obstacles, and has better flexibility and a wider range of applications during pipeline travel.

[0026] The bracket 12 is a hollow structure, and the interior provides space for lifting the crawler track 132 .

[0027] In the present application, the bracket 12 includes a bottom plate 121, a first scissors brace 122 and a second scissors brace 123. The bottom plate 121 is fixed on the base 11. The first scissors brace 122 and the second scissors brace 123 are both fixed on the bottom plate 121. The first scissors brace 122 and the second scissors brace 123 are arranged relatively spaced apart on the bottom plate 121. The first side plate 1311 is installed at one end of the first scissors brace 122 away from the bottom plate 121. The second side plate 1312 spaced apart and aligned with the first side plate 1311 is installed at one end of the second scissors brace 123 away from the bottom plate 121. The first side plate 1311 and the second side plate 1312 form a mounting seat 131. The bracket 12 is mainly supported by the first scissors brace 122 and the second scissors brace 123. The scissors brace structure has a simple structure and high support strength.

[0028] The first track wheel 133 is installed at one end between the first side plate 1311 and the second side plate 1312 through a rotating shaft, and the second track wheel 134 is installed at the other end between the first side plate 1311 and the second side plate 1312 through a rotating shaft. The first elastic obstacle avoidance mechanism 135 is set between the first side plate 1311 and the second side plate 1312.

[0029] In the present application, three crawler assembly devices 13 are provided, and the angles between the three crawler assembly devices 13 are 120°. The three crawler assembly devices 13 are 120° apart from each other and can stably support walking in the pipeline.

[0030] In other embodiments, four or more track assembly devices 13 may be provided.

[0031] In the present application, each track assembly 13 is fixed on the base 11 via a separate bracket 12 .

[0032] In other embodiments, each track assembly 13 may be fixed on the base 11 via an integral bracket 12 .

[0033] In the present application, power components 138 are arranged on the mounting seats 131 of two track assembly devices 13. In this way, two track assembly devices 13 with power components 138 actively walk in the pipeline, and the remaining track assembly device 13 walks in the pipeline passively.

[0034] In other embodiments, the power component 138 may be installed on one of the track assembly devices 13 , or the power component 138 may be installed on all three track assembly devices 13 .

[0035] In some embodiments, the power component 138 is covered with a protective shell 139, which is connected to the mounting seat 131 and has heat dissipation holes. The protective shell 139 serves to protect the power component 138.

[0036] In some embodiments, the power output end of the power component 138 is connected to the first track wheel 133 through a transmission mechanism 140, and the transmission mechanism 140 includes a first bevel gear 141 and a second bevel gear 142. The first bevel gear 141 is fixed to the power output end of the power component 138, and the second bevel gear 142 is arranged on the mounting seat 131 and is coaxially connected to the first track wheel 133. The first bevel gear 141 and the second bevel gear 142 are meshed with each other.

[0037] During operation, the power component 138 outputs power to the first track wheel 133 through the transmission of the first bevel gear 141 and the second bevel gear 142 .

[0038] In some embodiments, the first elastic obstacle avoidance mechanism 135 includes a support rod 1351, a connecting beam 1352 and a spring 1353. The first support wheel 136 and the second support wheel 137 are respectively installed at both ends of the support rod 1351. The connecting beam 1352 is slidably assembled on the support rod 1351. The two ends of the connecting beam 1352 are fixed to the mounting seat 131. The spring 1353 is sleeved on the support rod 1351. One end of the spring 1353 is pressed against the connecting beam 1352, and the other end is pressed against the connection between the support rod 1351 and the first support wheel 136.

[0039] Specifically, connecting rings are provided at both ends of the support rod 1351, one end of the support rod 1351 is rotatably connected to the first support wheel 136 through the connecting ring, the other end of the support rod 1351 is rotatably connected to the second support wheel 137 through the connecting ring, the connecting crossbeam 1352 is vertically assembled on the support rod 1351, and the two ends of the connecting crossbeam 1352 are fixed to the inner sides of the two side plates 1311 of the mounting seat 131. When the track assembly device 13 crosses an obstacle, since the connecting crossbeam 1352 is fixed to the mounting seat 131, when the first support wheel 136 drives the support rod 1351 to move, the spring 1353 will be compressed between the first support wheel 136 and the connecting crossbeam 1352, and the second support wheel 137 at the other end of the support rod 1351 will lift the track 132.

[0040] In the present application, the connection between the spring 1353 and the connecting beam 1352 is an elastic movable end, and the connection between the spring 1353 and the first supporting wheel 136 is an elastic movable end.

[0041] In other embodiments, one end of the spring 1353 is pressed against the connecting beam 1352, and the other end is pressed against the connection between the support rod 1351 and the second support wheel 137. This can also play a buffering role.

[0042] It is not difficult to imagine that in some other embodiments, the spring 1353 can also be set so that one end is pressed against the connection between the support rod 1351 and the second support wheel 137, and the other end is pressed against the connection between the support rod 1351 and the first support wheel 136, and the connecting beam 1352 is connected to the middle of the spring 1353. In this embodiment, the connection between the spring 1353 and the connecting beam 1352 is an elastic movable end, the connection between the spring 1353 and the second support wheel 137 is an elastic movable end, and the connection between the spring 1353 and the first support wheel 136 is another elastic movable end.

[0043] In some embodiments, two first elastic obstacle avoidance mechanisms 135 are provided, and the two first elastic obstacle avoidance mechanisms 135 are spaced apart along the length direction of the track 132 .

[0044] A first support wheel 136 and a second support wheel 137 are installed on each first elastic obstacle avoidance mechanism 135. The part of the track 132 surrounded by the two first support wheels 136 is used to walk on the pipe wall, which can increase the contact area between the track 132 and the pipe wall and prevent the track 132 from slipping.

[0045] Of course, in other embodiments, a first elastic obstacle avoidance mechanism 135 may be provided, and two side-by-side first support wheels 136 are installed at one end of the support rod 1351, and two side-by-side second support wheels 137 are installed at the other end.

[0046] In some embodiments, a camera 111 is installed at the front end of the base 11. The camera 111 has its own light source, and the camera 111 realizes visual detection of the environment inside the pipeline.

[0047] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0048] The embodiments of the present application are described in detail above in conjunction with the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present application.

Claims

1. A pipeline inspection robot driving device, characterized in that: The invention comprises a base, a bracket and at least two track assembly devices, each of which is connected to the base through the bracket, and each of the track assembly devices is spaced around the periphery of the base, and the track assembly device comprises a mounting seat, a track, a first track wheel, a second track wheel, a first elastic obstacle avoidance mechanism, a first support wheel and a second support wheel, the mounting seat is fixed to the bracket, the first track wheel and the second track wheel are respectively arranged at both ends of the mounting seat, a plurality of the first support wheels are installed at one end of the first elastic obstacle avoidance mechanism, and a plurality of the second support wheels are installed at the other end, and the first elastic obstacle avoidance mechanism is arranged at the mounting seat. The seat is inside and located between the first track wheel and the second track wheel, a plurality of the first support wheels and a plurality of the second support wheels are supported on the track between the first track wheel and the second track wheel, the first elastic obstacle avoidance mechanism has at least two elastic movable ends, one of the elastic movable ends is connected to the mounting seat, and the other elastic movable ends are connected to the first support wheel and / or the second support wheel, and among at least two of the track assembly devices, at least one of the track assembly devices is provided with a power component on the mounting seat, and the power output end of the power component is connected to the first track wheel of the track assembly device.

2. The driving device of the pipeline inspection robot according to claim 1, characterized in that: The first elastic obstacle avoidance mechanism includes a support rod, a connecting beam and a spring. The first support wheel and the second support wheel are respectively installed at two ends of the support rod. The connecting beam is slidably assembled on the support rod. The two ends of the connecting beam are fixed to the mounting seat. The spring is sleeved on the support rod. One end of the spring is pressed against the connecting beam, and the other end is pressed against the connection between the support rod and the first support wheel.

3. The driving device of the pipeline inspection robot according to claim 2, characterized in that: Two of the first elastic obstacle avoidance mechanisms are provided, and the two first elastic obstacle avoidance mechanisms are spaced apart along the length direction of the crawler track.

4. The driving device of the pipeline inspection robot according to any one of claim 1, characterized in that: The crawler track assembly devices are arranged in three, and the angles between the three crawler track assembly devices are 120°.

5. The driving device of the pipeline inspection robot according to claim 4, characterized in that: The power components are arranged on the mounting seats of two of the track assembly devices.

6. The driving device of the pipeline inspection robot according to claim 5, characterized in that: The power component is covered externally with a protective shell, the protective shell is connected to the mounting seat, and heat dissipation holes are provided on the protective shell.

7. The driving device of the pipeline inspection robot according to claim 5, characterized in that: The power output end of the power component is connected to the first track wheel through a transmission mechanism.

8. The driving device of the pipeline inspection robot according to claim 7, characterized in that: The transmission mechanism includes a first bevel gear and a second bevel gear, the first bevel gear is fixed to the power output end of the power component, the second bevel gear is arranged on the mounting seat and is coaxially connected to the first track wheel, and the first bevel gear and the second bevel gear are meshed with each other.

9. The driving device of the pipeline inspection robot according to claim 1, characterized in that: The bracket includes a bottom plate, a first scissors strut and a second scissors strut, the bottom plate is fixed on the base, the first scissors strut and the second scissors strut are both fixed on the bottom plate, the first scissors strut and the second scissors strut are arranged relatively spaced apart on the bottom plate, a first side plate is installed at one end of the first scissors strut away from the bottom plate, a second side plate aligned with the first side plate is installed at one end of the second scissors strut away from the bottom plate, and the first side plate and the second side plate form the mounting seat.

10. The driving device of the pipeline inspection robot according to any one of claims 1 to 9, characterized in that: A camera is installed at the front end of the base.

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