A pipeline inspection robot drive

Abstract

The application relates to the technical field of pipeline detection, in particular to a pipeline internal detection robot driving device, which comprises a base, a support and a track group device, the track group device is connected with the base, the track group device comprises a mounting seat, 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 seat is fixed on the support, the first track wheel and the second track wheel are arranged at two ends of the mounting seat respectively, one end of the first elastic obstacle avoidance mechanism is provided with the first supporting wheel, and the other end is provided with the second supporting wheel, the first elastic obstacle avoidance mechanism is arranged in the mounting seat and located between the first track wheel and the second track wheel, the first supporting wheel and the second supporting wheel support the track, a power component is arranged on the mounting seat of the track group device, and a power output end of the power component is connected with the first track wheel of the track group device. Flexibility is better during pipeline travel, and the application range is wider.

Description

Technical Field

[0001] This application relates to the field of pipeline inspection technology, and in particular to a drive device for a pipeline inspection robot. Background Technology

[0002] With the rapid development of urban construction, underground pipe networks are becoming increasingly large and complex. Pipeline inspection robots, as an important non-destructive testing method, play a crucial role in pipeline integrity assessment and maintenance. However, current pipeline inspection robots on the market have low flexibility and a narrow range of applications, and 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 diameter, which severely limits their applicability; second, there are often various obstacles inside pipelines, such as pipe joints, bends, and branch pipes, and conventional drive mechanisms cannot effectively overcome these obstacles, resulting in the inability to complete the inspection task smoothly. Summary of the Invention

[0003] This application aims to at least partially address one of the aforementioned technical problems in the prior art. To this end, embodiments of this application provide a pipeline inspection robot drive device, which offers greater flexibility and wider applicability during pipeline travel.

[0004] A drive device for a pipeline inspection robot includes a base, a support, and at least two track assembly units. Each track assembly unit is connected to the base via the support. The track assembly units are spaced apart around the outer periphery of the base. Each track assembly unit includes a mounting base, tracks, 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 base is fixed to the support. The first track wheel and the second track wheel are respectively disposed at both ends of the mounting base. A plurality of the first support wheels are mounted on one end of the first elastic obstacle avoidance mechanism, and a plurality of the second support wheels are mounted on the other end. The first elastic obstacle avoidance mechanism is disposed inside the mounting base and between the first track wheel and the second track wheel. A plurality of first support wheels and a plurality of second support wheels support each other 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 base, and the other elastic movable ends are connected to the first support wheel and / or the second support wheel. In at least two track assembly devices, a power unit is disposed on the mounting base of at least one track assembly device, and the power output end of the power unit 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, and both ends of the connecting beam are fixed to the mounting base. The spring is sleeved on the support rod, with one end of the spring abutting against the connecting beam and the other end abutting 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 arranged at intervals along the length direction of the track.

[0007] In an optional or preferred embodiment, three track assembly devices are provided, and the included angle between the three track assembly devices is 120°.

[0008] In an optional or preferred embodiment, the power unit is disposed on the mounting base of one of the two track assembly units.

[0009] In an optional or preferred embodiment, the power component is covered by a protective shell, which is connected to the mounting base, 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 to the power output end of the power component, and the second bevel gear is disposed on the mounting base and coaxially connected to the first track wheel. The first bevel gear and the second bevel gear mesh with each other.

[0012] In an optional or preferred embodiment, the bracket includes a base plate, a first scissor brace, and a second scissor brace. The base plate is fixed to the base, and both the first and second scissor braces are fixed to the base plate. The first and second scissor braces are arranged at intervals relative to each other on the base plate. A first side plate is installed at the end of the first scissor brace away from the base plate, and a second side plate is installed at the end of the second scissor brace away from the base plate, which is spaced and aligned with the first side plate. The first side plate and the second side plate form the mounting base.

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

[0014] Based on the above technical solution, the embodiments of this application have at least the following beneficial effects: During operation, when the track on the track assembly encounters an obstacle or a pipe wall with a smaller diameter, under the influence of the reaction force, the first support wheel will drive the first elastic obstacle avoidance mechanism to compress to avoid the obstacle or adapt to the smaller pipe diameter. At the same time, the second support wheel will lift the track. When passing over an obstacle or encountering a pipe wall with a wider diameter, the first elastic obstacle avoidance mechanism in the compressed state will cause the first support wheel to lift the track under the action of the rebound force, and the track supported by the second support wheel will retract. Since the length of the track remains unchanged, regardless of whether an obstacle is encountered or the pipe diameter changes, the first elastic obstacle avoidance mechanism can keep the track in a taut state at all times. Therefore, this application has better flexibility and a wider range of applications during pipeline travel. Attached Figure Description

[0015] The present application will be further described below with reference to the accompanying drawings and embodiments;

[0016] Figure 1 This is a schematic diagram of the structure of the pipeline inspection robot drive device provided in the embodiments of this application;

[0017] Figure 2 yes Figure 1 A partial structural schematic diagram of the embodiment shown.

[0018] Reference numerals: base 11, bracket 12, track assembly 13, camera 111, bottom plate 121, first scissor brace 122, second scissor brace 123, mounting base 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 unit 138, protective shell 139, transmission mechanism 140, first bevel gear 141, second bevel gear 142, support rod 1351, connecting beam 1352, spring 1353. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0020] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but should not be used to limit the scope of this application.

[0021] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. In addition, the terms "second" and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0022] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0023] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the feature is in direct contact with the second feature or indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the feature is directly above or diagonally above the second feature, or simply indicates that the feature's horizontal height is higher than the second feature. "Below," "below," and "beneath" the second feature can mean that the feature is directly below or diagonally below the second feature, or simply indicates that the feature's horizontal height is lower than the second feature.

[0024] Pipeline inspection technology is an important means to ensure the safe operation of pipelines such as oil and gas pipelines and water conservancy pipelines. Existing pipeline inspection robot drive devices usually use a wheeled structure to travel inside the pipeline to detect defects such as pipeline wall thickness, cracks, and corrosion. However, in practical applications, there are various obstacles in pipelines, such as welds, branch pipes, elbows, and reducers. Current inspection devices often show obvious limitations when encountering these obstacles, especially in reducer sections. Due to their rigid structure, the inspection devices are difficult to adapt to changes in pipe diameter, which can easily cause blind spots or device damage. These problems seriously restrict the efficiency and quality of pipeline inspection, increase inspection costs, and increase safety hazards.

[0025] Reference Figure 1 , Figure 2 This application provides a high-passability pipeline inspection robot drive device, including a base 11, a support 12 and at least two track assembly devices 13.

[0026] Each track assembly 13 is connected to the base 11 via a bracket 12. The track assemblies 13 are spaced apart around the outer periphery of the base 11. Each track assembly 13 includes a mounting base 131, a track 132, first track rollers 133, second track rollers 134, a first elastic obstacle avoidance mechanism 135, first support rollers 136, and second support rollers 137. The mounting base 131 is fixed to the bracket 12. The first track rollers 133 and second track rollers 134 are respectively located at both ends of the mounting base 131. One end of the first elastic obstacle avoidance mechanism 135 is fitted with several first support rollers 136, and the other end is fitted with several second support rollers 137. The first elastic obstacle avoidance mechanism 135 is located inside the mounting base 131 and between the first track rollers 133 and second track rollers 134. The first support rollers 136 and the second support rollers 137 support each other on the track 132 between the first track rollers 133 and second track rollers 134. The first elastic obstacle avoidance mechanism 135 has at least two elastic movable ends, one of which is connected to the mounting base 131, and the other elastic movable ends are connected to the first support wheel 136 and / or the second support wheel 137. In at least two track assembly devices 13, at least one track assembly device 13 has a power component 138 installed on its mounting base 131. 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 housing 21, a roller 22, and at least three second elastic obstacle avoidance mechanisms 23. The housing 21 is connected to the base 11 of the drive section 10. A strip-shaped through hole 2111 is opened on the outer wall of the housing 21. The second elastic obstacle avoidance mechanisms 23 are installed on the housing 21 and pass through the strip-shaped through hole 2111. Each second elastic obstacle avoidance mechanism 23 is arranged at intervals around the housing 21. The roller 22 is installed at one end of the second elastic obstacle avoidance mechanism 23 located outside the housing 21.

[0027] During operation, when the track 132 on the track assembly 13 encounters an obstacle or a pipe wall with a smaller diameter, the first support wheel 136, under the influence of the reaction force, will drive the first elastic obstacle avoidance mechanism 135 to compress to avoid the obstacle or adapt to the smaller pipe diameter. Simultaneously, the second support wheel 137 will lift the track 132. When crossing an obstacle or facing a pipe wall with a wider diameter, the first elastic obstacle avoidance mechanism 135, in its compressed state, will cause the first support wheel 136 to lift the track 132 under the action of the rebound force, while the track 132 supported by the second support wheel 137 will retract. Because the length of the track 132 remains constant, regardless of whether it encounters an obstacle or the pipe diameter changes, the first elastic obstacle avoidance mechanism 135 can keep the track 132 taut at all times. This application can achieve adaptive pipe diameter changes and automatic obstacle crossing, providing better flexibility and a wider range of applications during pipeline travel.

[0028] The support frame 12 has a hollow structure, and its interior provides space for the lifting of the track 132.

[0029] In this application, the bracket 12 includes a base plate 121, a first scissor brace 122, and a second scissor brace 123. The base plate 121 is fixed to the base 11, and both the first scissor brace 122 and the second scissor brace 123 are fixed to the base plate 121. The first scissor brace 122 and the second scissor brace 123 are arranged at intervals on the base plate 121. A first side plate 1311 is installed at the end of the first scissor brace 122 away from the base plate 121, and a second side plate 1312, aligned with the first side plate 1311, is installed at the end of the second scissor brace 123 away from the base plate 121. The first side plate 1311 and the second side plate 1312 form a mounting base 131. This bracket 12 forms the main support members through the first scissor brace 122 and the second scissor brace 123. The scissor brace structure is simple in structure and has high support strength.

[0030] The first track wheel 133 is mounted on one end between the first side plate 1311 and the second side plate 1312 via a pivot, and the second track wheel 134 is mounted on the other end between the first side plate 1311 and the second side plate 1312 via a pivot. The first elastic obstacle avoidance mechanism 135 is set between the first side plate 1311 and the second side plate 1312.

[0031] In this application, three track assembly devices 13 are provided, and the included angle between the three track assembly devices 13 is 120°. The three track assembly devices 13 at 120° to each other can stably support movement in the pipeline.

[0032] In other embodiments, the track assembly 13 may be provided in four or more configurations.

[0033] In this application, each track assembly 13 is fixed to the base 11 by a separate bracket 12.

[0034] In other embodiments, each track assembly 13 may be fixed to the base 11 by an integral bracket 12.

[0035] In this application, a power unit 138 is provided on the mounting base 131 of two of the track assembly devices 13. Thus, the two track assembly devices 13 with the power unit 138 move actively in the pipe, while the remaining track assembly device 13 moves passively in the pipe.

[0036] In other embodiments, the power unit 138 may be mounted on one of the track assembly units 13, or the power unit 138 may be mounted on all three track assembly units 13.

[0037] In some embodiments, a protective shell 139 covers the power component 138, the protective shell 139 is connected to the mounting base 131, and heat dissipation holes are provided on the protective shell 139. The protective shell 139 serves to protect the power component 138.

[0038] In some embodiments, the power output end of the power component 138 is connected to the first track wheel 133 via a transmission mechanism 140. 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 disposed on the mounting base 131 and coaxially connected to the first track wheel 133. The first bevel gear 141 and the second bevel gear 142 mesh with each other.

[0039] During operation, the power unit 138 outputs power to the first track wheel 133 through the transmission of the first bevel gear 141 and the second bevel gear 142.

[0040] In some embodiments, the first elastic obstacle avoidance mechanism 135 includes a support rod 1351, a connecting beam 1352, and a spring 1353. A first support wheel 136 and a second support wheel 137 are respectively installed at both ends of the support rod 1351. The connecting beam 1352 is slidably mounted on the support rod 1351, and both ends of the connecting beam 1352 are fixed to the mounting base 131. The spring 1353 is sleeved on the support rod 1351, with one end of the spring 1353 pressing against the connecting beam 1352 and the other end pressing against the connection between the support rod 1351 and the first support wheel 136.

[0041] Specifically, both ends of the support rod 1351 are equipped with connecting rings. One end of the support rod 1351 is rotatably connected to the first support wheel 136 via the connecting ring, and the other end of the support rod 1351 is rotatably connected to the second support wheel 137 via the connecting ring. The connecting beam 1352 is vertically mounted on the support rod 1351, and both ends of the connecting beam 1352 are fixed to the inner sides of the two side plates 1311 of the mounting base 131. When the track assembly 13 crosses an obstacle, because the connecting beam 1352 is fixed to the mounting base 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 beam 1352, while the second support wheel 137 at the other end of the support rod 1351 will lift the track 132.

[0042] In this 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 support wheel 136 is an elastic movable end.

[0043] In other embodiments, one end of the spring 1353 abuts against the connecting beam 1352, and the other end abuts against the connection between the support rod 1351 and the second support wheel 137. This also serves as a buffer.

[0044] It is not difficult to imagine that in some other embodiments, the spring 1353 can be configured such that one end abuts against the connection between the support rod 1351 and the second support wheel 137, and the other end abuts against the connection between the support rod 1351 and the first support wheel 136, with the connecting beam 1352 connected to the middle of the spring 1353. In this embodiment, the connection between the spring 1353 and the connecting beam 1352 is one elastic movable end, the connection between the spring 1353 and the second support wheel 137 is one elastic movable end, and the connection between the spring 1353 and the first support wheel 136 is another elastic movable end.

[0045] In some embodiments, two first elastic obstacle avoidance mechanisms 135 are provided, and the two first elastic obstacle avoidance mechanisms 135 are arranged at intervals along the length direction of the track 132.

[0046] Each first elastic obstacle avoidance mechanism 135 is equipped with a first support wheel 136 and a second support wheel 137. The portion of the track 132 surrounding the two first support wheels 136 is used to travel on the pipe wall, which increases the contact area between the track 132 and the pipe wall and prevents the track 132 from slipping.

[0047] Of course, in other embodiments, a first elastic obstacle avoidance mechanism 135 may also be provided, with two first support wheels 136 arranged side by side installed at one end of the support rod 1351, and two second support wheels 137 arranged side by side installed at the other end.

[0048] In some embodiments, a camera 111 is mounted on the front end of the base 11. The camera 111 has its own light source and enables visual detection of the environment inside the pipe.

[0049] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0050] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A drive device for a pipeline inspection robot, characterized in that: The system includes a base, a support, and at least two track assembly units. Each track assembly unit is connected to the base via the support. The track assembly units are spaced apart around the outer periphery of the base. Each track assembly unit includes a mounting base, 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 base is fixed to the support. The first track wheel and the second track wheel are respectively located at both ends of the mounting base. A plurality of first support wheels are mounted on one end of the first elastic obstacle avoidance mechanism, and a plurality of second support wheels are mounted on the other end. The first elastic obstacle avoidance mechanism is located inside the mounting base and between the first track wheel and the second track wheel. The plurality of first support wheels and the plurality of second support wheels support each other on the track between the first track wheel and the second track wheel. An elastic obstacle avoidance mechanism has at least two elastic movable ends, one of which is connected to the mounting base, and the other elastic movable ends are connected to the first support wheel and / or the second support wheel. In at least two track assembly devices, at least one track assembly device has a power unit mounted on its mounting base. The power output end of the power unit is connected to the first track wheel of its corresponding track assembly device. 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 mounted on both ends of the support rod. The connecting beam is slidably mounted on the support rod, and both ends of the connecting beam are fixed to the mounting base. The spring is sleeved on the support rod, with one end abutting against the connecting beam and the other end abutting against the connection between the support rod and the first support wheel.

2. The pipeline inspection robot drive device according to claim 1, characterized in that: Two first elastic obstacle avoidance mechanisms are provided, and the two first elastic obstacle avoidance mechanisms are arranged at intervals along the length direction of the track.

3. The pipeline inspection robot drive device according to claim 1, characterized in that: The track assembly is provided in three parts, and the included angle between the three track assemblies is 120°.

4. The pipeline inspection robot drive device according to claim 3, characterized in that: The power unit is mounted on the mounting base of two of the track assembly devices.

5. The pipeline inspection robot drive device according to claim 4, characterized in that: The power component is covered by a protective shell, which is connected to the mounting base, and heat dissipation holes are provided on the protective shell.

6. The pipeline inspection robot drive device according to claim 4, characterized in that: The power output end of the power unit is connected to the first track wheel via a transmission mechanism.

7. The pipeline inspection robot drive device according to claim 6, 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, and the second bevel gear is disposed on the mounting base and coaxially connected to the first track wheel. The first bevel gear and the second bevel gear mesh with each other.

8. The pipeline inspection robot drive device according to claim 1, characterized in that: The bracket includes a base plate, a first scissor brace, and a second scissor brace. The base plate is fixed to the base, and both the first and second scissor braces are fixed to the base plate. The first and second scissor braces are arranged at intervals relative to each other on the base plate. A first side plate is installed at the end of the first scissor brace away from the base plate, and a second side plate is installed at the end of the second scissor brace away from the base plate, which is spaced and aligned with the first side plate. The first side plate and the second side plate form the mounting base.

9. The pipeline inspection robot drive device according to any one of claims 1 to 8, characterized in that: A camera is mounted on the front end of the base.

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