Multifunctional operation robot in complex pipe network facility of station

Abstract

The invention discloses a multifunctional operation robot in a complex pipe network facility of a station, which relates to the field of station pipeline maintenance and comprises a front driving assembly, a turning assembly, a hovering assembly, a cleaning assembly, a rear driving assembly and a wire coiling assembly. An arc-shaped plate can expand and slide in the hovering assembly, so that the robot is locked in the vertical direction; the turning assembly can adjust the angle of the robot body, so that the robot actively enters the branch pipeline in any direction; the position of a rolling brush in the cleaning assembly can be adjusted to adapt to different working conditions, and pipelines with different pipe diameters and bent pipelines can be effectively cleaned; meanwhile, the robot is provided with a camera and a magnetic flux leakage device, and defects are recognized and positioned by collecting image information and magnetic flux leakage signals; lead screws and nuts in the front and back driving assemblies are matched, so that the robot can adapt to changes of pipe diameters. The method has the characteristics of high safety, wide application scene range, good control stability and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of pipeline operation and maintenance and nondestructive testing, and specifically relates to a multifunctional operating robot inside complex pipeline network facilities of a station. Technical Background

[0002] Pipelines are an important part of natural gas purification plants, natural gas transmission stations, refineries, petrochemical plants, chemical plants and other stations. They are responsible for the transportation and regulation of various fluid materials such as gas, oil and raw materials. They can be called the hub and "heart" of these stations. Its main functions include pressure regulation, metering, purification, cleaning, pressurization and cooling. However, with the extension of pipeline use time and the continuous transportation of media, dirt, sediment or corrosion is easy to accumulate inside the pipeline, especially in vertical pipe sections and branch bends. These areas have become difficulties and bottlenecks in pipeline maintenance and inspection due to their complex structure and special environment. The pipeline layout is complex and dense, and pipelines of different diameters are crisscrossed and interconnected, forming an extremely complex pipeline network. Traditional pipeline inspection methods mainly rely on manual inspection and spot inspection, but these methods have many limitations, such as long inspection cycle, high cost, low efficiency, etc., and can only perform external inspections, and it is difficult to conduct a comprehensive inspection of the inside of the vertical pipeline. Ordinary pipeline robots also find it difficult to cope with this complex working environment. Through research, it was found that the existing related pipeline robots still have the following deficiencies in practical applications:

[0003] (1) Existing pipeline robots are affected by their own gravity, dirt, sediment and other factors, and are prone to slipping when performing operations such as in-pipe inspection and cleaning in vertical pipe sections.

[0004] (2) Existing pipeline robots have poor active turning capabilities in vertical branch pipes, and are prone to difficulties in passing or getting stuck. They are unable to turn at vertical branch pipes or enter different channels in a controllable manner.

[0005] (3) Existing pipeline robots usually use a cleaning arm to drive a cleaning brush to rotate for cleaning. However, due to the fast rotation speed of the cleaning arm, the robot has poor stability when working. In addition, due to the length limitation of the cleaning arm, it can only clean pipelines under specific working conditions, and the cleaning effect is poor for pipes of different diameters and curved pipes.

[0006] Therefore, there is an urgent need to develop a multifunctional operating robot inside the complex pipeline facilities of the station that can complete the cleaning and inspection tasks inside the station pipelines, so as to ensure the integrity and safety of various types of station production operation pipelines throughout their life cycle. Summary of the invention

[0007] In order to meet the technical requirements of existing pipeline robots in cleaning and inspecting pipelines, a multifunctional operating robot for complex pipeline network facilities at stations is proposed. The robot can be locked in the vertical direction by an expandable sliding arc plate; the robot can actively enter branch pipelines in any orientation by rotating the connecting rod frame; the roller brush position is adjusted by the electric push rod to efficiently and stably clean different diameters and curved pipelines; at the same time, the robot collects image information and leakage magnetic signals through the camera and leakage magnetic device to identify and locate pipeline defects in real time; the front and rear drive components of the robot can adapt to changes in pipe diameter by adjusting the lead screw and nut.

[0008] The present invention provides a multifunctional operating robot inside complex pipe network facilities of a station, comprising a front drive component, a turning component, a hovering component, a cleaning component, a rear drive component, and a wire coiling component; wherein the turning component is connected to the rear end of the front drive component and the front end of the hovering component, and the cleaning component, the rear drive component and the wire coiling component are installed in sequence from front to back behind the hovering component.

[0009] The front drive assembly includes a camera, a front lead screw, a front nut, a steel brush, a front roller, a front fixed seat, a front guide rod, a front motor fixing plate, a motor I, a front coupling, a connecting rod I, a connecting rod II, and a front connecting plate; wherein the front guide rod passes through the front nut and the front fixed seat, and the two ends of the front guide rod are respectively fixed on the front motor fixing plate and the front connecting plate, the front nut is meshed with the front lead screw, and the front nut is circumferentially hinged with four connecting rods II, the connecting rod II, the front fixed seat is fixed on the front guide rod, a front lead screw is installed in the middle part of the front fixed seat, the front fixed seat is circumferentially hinged with one end of the four connecting rods I respectively, a front roller is installed on the other end of the connecting rod I, the middle part of the connecting rod I is hinged with the connecting rod II, the front motor fixing plate is fixed with the motor I, the motor I is connected to one end of the front coupling, the other end of the front coupling is connected to the front lead screw, the front connecting plate is circumferentially hinged with one end of the steel brush, and a camera is fixed on the front end surface of the front connecting plate.

[0010] The turning component includes a motor bracket, a motor II, a motor III, a geared disc bracket, a bracket cover, a motor IV, a connecting rod frame, a double-ear bracket, a motor V, and a leakage magnetic sensor; wherein the bracket cover is installed on the motor bracket, and motors II and III are installed between the motor bracket and the bracket cover; a geared disc bracket is installed on the front end surface of the bracket cover, and the gear of the geared disc bracket is meshed with the output shaft gear of motor III; one end of the connecting rod frame is hinged to the geared disc bracket, and the other end of the connecting rod frame is hinged to the double-ear bracket; motor IV is fixed to the geared disc bracket, and the gear on the output shaft of motor IV is meshed with the gear at one end of the connecting rod frame; motor V is fixed to the double-ear bracket, and the gear on the output shaft of motor V is meshed with the gear at the other end of the connecting rod frame; and the leakage magnetic sensor is installed on the outside of the motor bracket and the bracket cover.

[0011] The suspension assembly includes a connecting rod III, a sliding arc plate, a cross connecting frame, a cross guide rail, and a universal joint; wherein the sliding arc plate is installed around the cross guide rail, a cross connecting frame is installed in the middle of the cross guide rail, the cross connecting frame is hinged to one end of the four connecting rods III respectively, the other end of the connecting rod III is hinged to the sliding arc plate, the universal joint is installed on the rear side of the cross connecting frame, and the gear on the front end surface of the cross connecting frame is meshed with the gear on the output shaft of the motor II.

[0012] The cleaning component includes an electric push rod, a star-shaped flange, a roller brush bracket, and a roller brush; wherein the star-shaped flange is respectively hinged to one end of two electric push rods and two roller brush brackets, a roller brush is installed on the other end of the roller brush bracket, the other end of the electric push rod is hinged to the middle part of the roller brush bracket, and the gear on the front end surface of the star-shaped flange is meshed with the gear on the output shaft of the motor VI.

[0013] The rear drive assembly includes a rear motor fixing plate, a motor V, a rear coupling, a rear fixing seat, a connecting rod IV, a rear roller, a connecting rod V, a rear guide rod, a rear connecting plate, a rear lead screw, a rear nut, and a motor VI; wherein the rear guide rod passes through the rear nut and the rear fixing seat, both ends of the rear guide rod are fixed on the rear motor fixing plate and the rear connecting plate, the rear fixing seat is fixed on the rear guide rod, the rear fixing seat is circumferentially hinged to one end of four connecting rods IV, the other end of the connecting rod IV is equipped with a rear roller, the rear nut is circumferentially hinged to one end of four connecting rods V, the other end of the connecting rod V is connected to the middle part of the connecting rod IV, the motor V and the motor VI are fixed on the rear motor fixing plate in reverse, one end of the rear coupling is connected to the motor V, the other end of the rear coupling is connected to the rear lead screw, and the rear lead screw and the rear nut cooperate.

[0014] The wire winding assembly comprises a wire winding wheel, a wire winding box and a side box cover; wherein the wire winding box is provided with a wire winding wheel, and the wire winding box is provided with a side box cover.

[0015] Furthermore, in the above-mentioned multifunctional operating robot inside the complex pipeline facilities of the station, the front drive assembly and the turning assembly are connected through the front motor fixing plate and the double-ear bracket, the turning assembly and the hovering assembly are connected through the motor bracket and the cross guide rail, the hovering assembly and the cleaning assembly are connected through a universal joint, the cleaning assembly and the rear drive assembly are connected through the rear motor fixing plate, and the rear drive assembly and the wire winding assembly are connected through the rear connecting plate and the wire winding box.

[0016] Furthermore, in the multifunctional operating robot inside the complex pipeline facilities of the above-mentioned station, the four side lugs of the front fixed seat are all provided with a hinge hole I, four guide rod mounting holes are provided along the diagonal line near the chamfered position on the front end surface of the front fixed seat, and a bearing is provided on the front end surface of the front fixed seat. The front guide rod passes through and is fixed on the guide rod mounting hole, the connecting rod I is hinged to the hinge hole I, the connecting rod I can rotate around the axis of the hinge hole I, and the rear end of the front screw is fixed on the bearing.

[0017] Furthermore, in the multifunctional operating robot inside the complex pipeline facilities of the above-mentioned station, the bottom of the toothed disc bracket is a gear, and the arc-shaped bracket with a hole perpendicular to the gear surface is provided with an axial hole I and a hinge hole II. The upper end face of the gear is provided with a through hole I, and the output shaft of the motor IV passes through the axial hole I.

[0018] Furthermore, in the multifunctional operating robot inside the complex pipe network facilities of the above-mentioned station, the double-ear bracket is provided with a through hole II along the diagonal line of the bottom end face, and the arc-shaped bracket with the hole perpendicular to the gear surface is provided with a hinge hole III and an axis hole II, and the output shaft of the motor V passes through the axis hole II.

[0019] Furthermore, in the multifunctional operating robot inside the complex pipeline facilities of the above-mentioned station, the toothed part on the outer side of the sliding arc plate is made of rubber, and the inner side is a concave slide groove, and a boss I is provided on the upper surface of the rectangular slide groove, the concave slide groove cooperates with the cross guide rail, and the boss I cooperates with the connecting rod III.

[0020] Furthermore, in the multifunctional operating robot inside the complex pipeline facilities of the above-mentioned station, the cross guide rail has long strip protrusions distributed around it, a boss II is provided on the rear end face, and a threaded hole is provided on the front end face, the long strip protrusion cooperates with the concave slide groove, the boss II cooperates with the motor bracket, and the cross guide rail is connected to the universal joint through the threaded hole.

[0021] Furthermore, in the multifunctional operating robot inside the complex pipe network facilities of the above-mentioned station, the star-shaped flange has hinge holes IV distributed around it, a hollow cylindrical tube is arranged in the middle, and the hinge hole IV cooperates with the electric push rod and the roller brush bracket.

[0022] Furthermore, in the above-mentioned multifunctional operation robot inside the complex pipe network facilities of the station, hovering and detecting and cleaning the multifunctional operation robot inside the complex pipe network facilities of the station specifically includes the following steps:

[0023] S1: Preparation stage:

[0024] Check the integrity of pipeline robot equipment, including power systems, sensors, cameras and control cables; test the transmission function of cables to ensure stable data and power supply; reasonably set the cable length according to the length and diameter of the pipeline to avoid entanglement or obstruction during operation.

[0025] S2: Enter the pipeline stage:

[0026] Open the valve at the end of the pipeline to be inspected, put in the pipeline robot, start the robot, slowly enter the pipeline, and the rear-end cable winding assembly releases the cable in an orderly manner to avoid excessive stretching or tangling; monitor the robot's operating status and pipeline environment through the camera, and adjust the movement speed and posture when necessary.

[0027] S3: Working stage in pipeline:

[0028] S31: Vertical pipe section hovering:

[0029] When the pipeline robot enters the vertical pipe section, the cross-connecting frame rotates, driving the sliding arc plate to expand outward along the cross guide rail to form a radial structure. At this time, the sliding arc plate is close to the pipe wall; if slippage occurs or cleaning inspection is carried out, the cross-connecting frame continues to rotate, and the sliding arc plate squeezes the pipe wall, locking the robot in the vertical direction to ensure its stable hovering.

[0030] S32: Vertical pipe section bend:

[0031] When the pipeline robot enters the vertical pipe section from the horizontal pipe section, the motor IV rotates to change the angle between the gear disc bracket and the connecting rod bracket, and the motor V rotates to change the angle between the double-ear bracket and the connecting rod bracket, thereby changing the posture of the front drive component. The front roller in the front drive component is at the frontmost position, which drives the pipeline robot into the pipeline, continuously changing the gear disc bracket, the connecting rod bracket and the double-ear bracket, so that the pipeline robot turns smoothly; the rotation of the gear disc bracket enables the robot to adapt to the three-dimensional curves of different turning planes to perform the above-mentioned turns.

[0032] S33: Cleaning and testing:

[0033] The rotation of the star-shaped flange drives the roller brush to rotate and clean the pipe wall surface, and the electric push rod promotes the change of the roller brush position, thereby realizing the detection of pipes with different radii; when the pipeline robot performs specific position detection, the front-end camera is used to collect images and determine the specific location of the defect through the marks in the image; at the same time, the steel brush transmits the magnetic field to the inner surface of the pipe, and the leakage magnetic sensor senses the magnetic signal for defect detection. By comparing the changes in the leakage magnetic signal with the normal signal, the defects in the pipe can be accurately identified.

[0034] S4: Exit pipeline stage:

[0035] When exiting the pipeline, the rear-end cable winding assembly will synchronously retract the cable to ensure a smooth and damage-free cable retraction process. The status of the robot and cable will be monitored in real time to avoid damage to the pipeline during the exit process. After exiting, the robot and cable will be thoroughly cleaned and inspected to ensure the next safe and reliable use of the equipment. The operation data and images will be organized to generate a complete report for subsequent analysis.

[0036] The beneficial effects of the present invention are:

[0037] (1) The present invention addresses the problem of slipping during cleaning of the inspection section in the vertical pipe section. The expansion support of the sliding arc plate is locked to enable the pipeline robot to hover in a specific vertical section for inspection and cleaning operations after stopping movement, thereby improving the safety of the operation.

[0038] (2) The present invention addresses the problem that vertical branch pipes are difficult to pass through and easy to get stuck. By controlling the connecting rod frame in the turning assembly to change the angle of the front drive assembly, the pipeline robot can actively pass through branch pipes in any orientation, thereby expanding the application range of the robot and increasing the applicability of scenarios.

[0039] (3) In order to solve the problems of poor cleaning effect and low cleaning stability, the present invention adopts a roller brush to reduce the rotation speed of the cleaning component, thereby improving the stability of pipeline cleaning; at the same time, the cleaning position of the roller brush is adjusted by an electric push rod to achieve efficient cleaning of pipes of different diameters and bends. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a structural schematic diagram of the present invention;

[0041] Figure 2 It is a schematic diagram of the connection between the components of the present invention;

[0042] Figure 3 It is a structural schematic diagram of the front drive assembly of the present invention;

[0043] Figure 4 It is a partial schematic diagram of the detection parts in the front drive assembly of the present invention;

[0044] Figure 5 This is a schematic diagram of the structure of the turning assembly of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of the hovering assembly of the present invention;

[0046] Figure 7 This is a schematic diagram of the cleaning component structure of the present invention;

[0047] Figure 8 It is a schematic diagram of the structure of the rear drive assembly of the present invention;

[0048] Fig. 9 This is a schematic diagram of the structure of the cable coiling assembly of the present invention;

[0049] Fig.10 It is a schematic diagram of the structure of the front fixing seat of the present invention;

[0050] Fig.11 This is a schematic diagram of the structure of the toothed disc support of the present invention;

[0051] Fig.12 This is a schematic diagram of the structure of the double-ear bracket of the present invention;

[0052] Fig.13 This is a schematic diagram of the structure of the sliding arc plate of the present invention;

[0053] Fig.14 It is a schematic diagram of the cross guide structure of the present invention;

[0054] Fig.15 This is a schematic diagram of the star-shaped flange structure of the present invention;

[0055] Fig.16 This is a schematic diagram of a vertical branch pipe turning in the present invention;

[0056] Fig.17 This is a schematic diagram of the present invention hovering in a vertical tube;

[0057] In the figure, 1. front drive assembly, 101. camera, 102. front lead screw, 103. front screw nut, 104. steel brush, 105. front roller, 106. front fixing seat, 1061. hinge hole I, 1062. guide rod mounting hole, 1063. bearing, 107. front guide rod, 108. front motor fixing plate, 109. motor I, 110. front coupling, 111. connecting rod I, 112. connecting rod II, 113. front connecting plate, 2. turning Components, 201, motor bracket, 202, motor II, 203, motor III, 204, gear bracket, 2041, shaft hole I, 2042, hinge hole II, 2043, through hole I, 205, bracket cover, 206, motor IV, 207, connecting rod bracket, 208, double ear bracket, 2081, through hole II, 2082, hinge hole III, 2083, shaft hole II, 209, motor V, 210, leakage magnetic sensor 3, Suspension assembly, 301, connecting rod III, 302, sliding arc plate, 3021, boss I, 3022, concave slide, 303, cross connecting frame, 304, cross guide, 3041, long strip protrusion, 3042, boss II, 3043, threaded hole, 305, universal joint, 4, cleaning assembly, 401, electric push rod, 402, star-shaped flange, 4021, hollow cylinder, 4022, hinge hole IV, 403, Roller brush bracket, 404, roller brush, 5, rear drive assembly, 501, rear motor fixing plate, 502, motor V, 503, rear coupling, 504, rear fixing seat, 505, connecting rod IV, 506, rear roller, 507, connecting rod V, 508, rear guide rod, 509, rear connecting plate, 510, rear lead screw, 511, rear nut, 512, motor VI, 6, wire winding assembly, 601, wire winding wheel, 602, wire winding box, 603, side box cover. DETAILED DESCRIPTION

[0058] The technical solution of the present invention is described clearly and completely below in conjunction with the accompanying drawings. 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.

[0059] In the description of the present invention, it should be noted that the directions or positional relationships indicated by "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. are directions or positional relationships based on the drawings, which are only for the convenience of describing the present invention 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 present invention. In addition, "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0060] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, "installation", "connection" 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 a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] like Figures 1 to 17 As shown, the present embodiment is a multifunctional operating robot inside a complex pipe network facility of a station, the multifunctional operating robot inside a complex pipe network facility of a station comprises a front drive component 1, a turning component 2, a hovering component 3, a cleaning component 4, a rear drive component 5, and a wire coiling component 6; wherein the turning component 2 is connected to the rear end of the front drive component 1 and the front end of the hovering component 3, and the cleaning component 4, the rear drive component 5 and the wire coiling component 6 are sequentially installed behind the hovering component 3 from front to back.

[0062] In this embodiment, the front drive assembly 1 includes a camera 101, a front screw 102, a front nut 103, a steel brush 104, a front roller 105, a front fixed seat 106, a front guide rod 107, a front motor fixing plate 108, a motor I109, a front coupling 110, a connecting rod I111, a connecting rod II112, and a front connecting plate 113; wherein the front guide rod 107 passes through the front nut 103 and the front fixed seat 106, and the two ends of the front guide rod 107 are respectively fixed on the front motor fixing plate 108 and the front connecting plate 113, the front nut 103 is meshed with the front screw 102, and the front nut 103 is circumferentially hinged with four connecting rods II112, Connecting rod II112, the front fixed seat 106 is fixed on the front guide rod 107, the front screw 102 is installed in the middle of the front fixed seat 106, the front fixed seat 106 is hinged to one end of four connecting rods I111 in a circumferential direction, the front roller 105 is installed on the other end of the connecting rod I111, the middle part of the connecting rod I111 is hinged to the connecting rod II112, the front motor fixing plate 108 is fixed with the motor I109, the motor I109 is connected to one end of the front coupling 110, the other end of the front coupling 110 is connected to the front screw 102, the front connecting plate 113 is hinged to one end of the steel brush 104 in a circumferential direction, and the camera 101 is fixed to the front end surface of the front connecting plate 113.

[0063] In this embodiment, the turning component 2 includes a motor bracket 201, a motor II 202, a motor III 203, a toothed disc bracket 204, a bracket cover 205, a motor IV 206, a connecting rod frame 207, a double-ear bracket 208, a motor V 209, and a magnetic leakage sensor 210; wherein the bracket cover 205 is installed on the motor bracket 201, and the motor II 202 and the motor III 203 are installed between the motor bracket 201 and the bracket cover 205, and the toothed disc bracket 204 is installed on the front end surface of the bracket cover 205, and the toothed disc bracket 204 The gear is meshed with the output shaft gear of motor III203, one end of the connecting rod frame 207 is hinged to the gear disc bracket 204, and the other end of the connecting rod frame 207 is hinged to the double-ear bracket 208. Motor IV206 is fixed on the gear disc bracket 204, and the gear on the output shaft of motor IV206 is meshed with the gear at one end of the connecting rod frame 207. Motor V209 is fixed on the double-ear bracket 208, and the gear on the output shaft of motor V209 is meshed with the gear at the other end of the connecting rod frame 207. The leakage magnetic sensor 210 is installed on the outside of the motor bracket 201 and the bracket cover 205.

[0064] In this embodiment, the hovering assembly 3 includes a connecting rod III301, a sliding arc plate 302, a cross connecting frame 303, a cross guide rail 304, and a universal joint 305; wherein the sliding arc plate 302 is installed around the cross guide rail 304, and a cross connecting frame 303 is installed in the middle of the cross guide rail 304, the cross connecting frame 303 is hinged to one end of the four connecting rods III301 respectively, and the other end of the connecting rod III301 is hinged to the sliding arc plate 302, the universal joint 305 is installed on the rear side of the cross connecting frame 303, and the gear on the front end face of the cross connecting frame 303 is meshed with the gear on the output shaft of the motor II202.

[0065] In this embodiment, the cleaning component 4 includes an electric push rod 401, a star-shaped flange 402, a roller brush bracket 403, and a roller brush 404; wherein the star-shaped flange 402 is respectively hinged to one end of two electric push rods 401 and two roller brush brackets 403, and a roller brush 404 is installed on the other end of the roller brush bracket 403. The other end of the electric push rod 401 is hinged to the middle part of the roller brush bracket 403, and the gear on the front end surface of the star-shaped flange 402 is meshed with the gear on the output shaft of the motor VI512.

[0066] In this embodiment, the rear drive assembly 5 includes a rear motor fixing plate 501, a motor V502, a rear coupling 503, a rear fixing seat 504, a connecting rod IV505, a rear roller 506, a connecting rod V507, a rear guide rod 508, a rear connecting plate 509, a rear lead screw 510, a rear screw nut 511, and a motor VI512; wherein the rear guide rod 508 passes through the rear screw nut 511 and the rear fixing seat 504, and both ends of the rear guide rod 508 are fixed on the rear motor fixing plate 501 and the rear connecting plate 509, and the rear fixing seat 504 is fixed on the rear guide rod On 508, the rear fixed seat 504 is hinged to one end of the four connecting rods IV505 in a circumferential direction, and the other end of the connecting rod IV505 is installed with a rear roller 506. The rear nut 511 is hinged to one end of the four connecting rods V507 in a circumferential direction, and the other end of the connecting rod V507 is connected to the middle part of the connecting rod IV505. The motor V502 and the motor VI512 are fixed in reverse on the rear motor fixing plate 501, one end of the rear coupling 503 is connected to the motor V502, and the other end of the rear coupling 503 is connected to the rear screw 510, and the rear screw 510 and the rear nut 511 cooperate.

[0067] In this embodiment, the wire winding assembly 6 includes a wire winding wheel 601 , a wire winding box 602 , and a side box cover 603 ; wherein the wire winding box 602 is installed with the wire winding wheel 601 , and the wire winding box 602 is installed with the side box cover 603 .

[0068] In this embodiment, the front drive assembly 1 and the turning assembly 2 are connected via the front motor fixing plate 108 and the double-ear bracket 208, the turning assembly 2 and the hovering assembly 3 are connected via the motor bracket 201 and the cross guide rail 304, the hovering assembly 3 and the cleaning assembly 4 are connected via a universal joint, the cleaning assembly 4 and the rear drive assembly 5 are connected via the rear motor fixing plate 501, and the rear drive assembly 5 and the wire winding assembly 6 are connected via the rear connecting plate 509 and the wire winding box 602.

[0069] In this embodiment, the four side lugs of the front fixed seat 106 are all provided with a hinge hole I1061, four guide rod mounting holes 1062 are arranged along the diagonal line near the chamfered position on the front end surface of the front fixed seat 106, a bearing 1063 is arranged on the front end surface of the front fixed seat 106, the front guide rod 107 passes through and is fixed on the guide rod mounting hole 1062, the connecting rod I111 is hinged to the hinge hole I1061, the connecting rod I111 can rotate around the axis of the hinge hole I1061, and the rear end of the front screw 102 is fixed on the bearing 1063.

[0070] In this embodiment, the bottom of the gear disc bracket 204 is a gear, and the arc-shaped bracket with a hole perpendicular to the gear surface is provided with an axial hole I2041 and a hinge hole II2042. The upper end surface of the gear is provided with a through hole I2043, and the output shaft of the motor IV206 passes through the axial hole I2041.

[0071] In this embodiment, the double-ear bracket 208 is provided with a through hole II2081 along the diagonal line of the bottom end face, and the arc-shaped bracket arranged perpendicular to the gear surface is provided with a hinge hole III2082 and an axis hole II2083, and the output shaft of the motor V209 passes through the axis hole II2083.

[0072] In this embodiment, the outer toothed portion of the sliding arc plate 302 is made of rubber, the inner side is a concave slide groove 3022, a boss I3021 is provided on the upper surface of the rectangular slide groove, the concave slide groove 3022 cooperates with the cross guide rail 304, and the boss I3021 cooperates with the connecting rod III301.

[0073] In this embodiment, the cross guide rail 304 has long strip protrusions 3041 distributed around it, a boss II3042 is provided on the rear end face, and a threaded hole 3043 is provided on the front end face. The long strip protrusion 3041 cooperates with the concave groove 3022, the boss II3042 cooperates with the motor bracket 201, and the cross guide rail 304 is connected to the universal joint 305 through the threaded hole 3043.

[0074] In this embodiment, the star-shaped flange 402 has hinge holes IV4022 distributed around it, and a hollow cylindrical tube 4021 is provided in the middle. The hinge holes IV4022 cooperate with the electric push rod 401 and the roller brush bracket 403.

[0075] In this embodiment, the hovering and detection and cleaning of the multifunctional operation robot inside the complex pipe network facilities of the station specifically includes the following steps:

[0076] S1: Preparation stage:

[0077] Check the integrity of pipeline robot equipment, including power systems, sensors, cameras and control cables; test the transmission function of cables to ensure stable data and power supply; reasonably set the cable length according to the length and diameter of the pipeline to avoid entanglement or obstruction during operation.

[0078] S2: Enter the pipeline stage:

[0079] Open the valve at the end of the pipeline to be inspected, put in the pipeline robot, start the robot, slowly enter the pipeline, and the rear end cable winding assembly 6 releases the cable in an orderly manner to avoid excessive stretching or tangling; monitor the robot's operating status and pipeline environment through the camera 101, and adjust the moving speed and posture when necessary.

[0080] S3: Working stage in pipeline:

[0081] S31: Vertical pipe section hovering:

[0082] When the pipeline robot enters the vertical pipe section, the cross connecting frame 303 rotates, driving the sliding arc plate 302 to expand outward along the cross guide rail 304 to form a radial structure. At this time, the sliding arc plate 302 is close to the pipe wall; if slipping occurs or cleaning inspection is performed, the cross connecting frame 303 continues to rotate, and the sliding arc plate 302 squeezes the pipe wall, locking the robot in the vertical direction to ensure its stable hovering.

[0083] S32: Vertical pipe section bend:

[0084] When the pipeline robot enters the vertical pipe section from the horizontal pipe section, the motor IV206 rotates to change the angle between the gear disc bracket 204 and the connecting rod bracket 207, and the motor V209 rotates to change the angle between the double-ear bracket 208 and the connecting rod bracket 207, thereby changing the posture of the front drive component 1. The front roller 105 in the front drive component 1 is at the frontmost position, which drives the pipeline robot into the pipeline, continuously changing the gear disc bracket 204, the connecting rod bracket 207 and the double-ear bracket 208, so that the pipeline robot turns smoothly; the rotation of the gear disc bracket 204 enables the robot to adapt to the three-dimensional curves of different turning planes to perform the above-mentioned turns.

[0085] S33: Cleaning and testing:

[0086] The rotation of the star-shaped flange 402 drives the roller brush 404 to rotate and clean the surface of the pipe wall. The electric push rod 401 promotes the change of the position of the roller brush 404, thereby realizing the detection of pipes with different radii. When the pipeline robot performs specific position detection, the front-end camera 101 is used to collect images and determine the specific location of the defect through the marks in the image. At the same time, the steel brush 104 transmits the magnetic field to the inner surface of the pipe, and the leakage magnetic sensor 210 senses the magnetic signal for defect detection. By comparing the changes in the leakage magnetic signal with the normal signal, the defects in the pipe can be accurately identified.

[0087] S4: Exit pipeline stage:

[0088] When exiting the pipeline, the rear-end cable winding component 6 will synchronously retract the cable to ensure a smooth and lossless cable retraction process. The status of the robot and cable will be monitored in real time to avoid damage to the pipeline during the exit process. After exiting, the robot and cable will be thoroughly cleaned and inspected to ensure the next safe and reliable use of the equipment. The operation data and images will be organized to generate a complete report for subsequent analysis.

[0089] Obviously, the above embodiments are merely examples for clear explanation, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from them are still within the protection scope of the invention.

Claims

1. A multifunctional robot for working inside complex pipe network facilities at a station, characterized by: The invention comprises a front drive assembly (1), a turning assembly (2), a hovering assembly (3), a cleaning assembly (4), a rear drive assembly (5), and a wire coiling assembly (6); wherein the turning assembly (2) is connected to the rear end of the front drive assembly (1) and the front end of the hovering assembly (3); and the cleaning assembly (4), the rear drive assembly (5), and the wire coiling assembly (6) are sequentially installed behind the hovering assembly (3) from front to back. The front drive assembly (1) comprises a camera (101), a front lead screw (102), a front nut (103), a steel brush (104), a front roller (105), a front fixed seat (106), a front guide rod (107), a front motor fixing plate (108), a motor I (109), a front coupling (110), a connecting rod I (111), a connecting rod II (112), and a front connecting plate (113); wherein the front guide rod (107) passes through the front nut (103) and the front fixed seat (106), the two ends of the front guide rod (107) are respectively fixed on the front motor fixing plate (108) and the front connecting plate (113), the front nut (103) is meshed with the front lead screw (102), and the front nut (103) is circumferentially hinged with four connecting rods II (112), A connecting rod II (112), a front fixed seat (106) is fixed on the front guide rod (107), a front lead screw (102) is installed in the middle of the front fixed seat (106), the front fixed seat (106) is hinged to one end of four connecting rods I (111) in the circumferential direction, a front roller (105) is installed on the other end of the connecting rod I (111), the middle of the connecting rod I (111) is hinged to the connecting rod II (112), a front motor fixing plate (108) is fixed with a motor I (109), the motor I (109) is connected to one end of a front coupling (110), the other end of the front coupling (110) is connected to the front lead screw (102), a front connecting plate (113) is hinged to one end of a steel brush (104) in the circumferential direction, and a camera (101) is fixed to the front end surface of the front connecting plate (113); The turning assembly (2) comprises a motor support (201), a motor II (202), a motor III (203), a toothed disc support (204), a support cover (205), a motor IV (206), a connecting rod support (207), a double-ear support (208), a motor V (209), and a magnetic flux leakage sensor (210); wherein the support cover (205) is mounted on the motor support (201), the motor II (202) and the motor III (203) are mounted between the motor support (201) and the support cover (205), the toothed disc support (204) is mounted on the front end surface of the support cover (205), and the toothed disc support (204) The gear meshes with the output shaft gear of the motor III (203); one end of the connecting rod frame (207) is hinged with the toothed disc bracket (204); the other end of the connecting rod frame (207) is hinged with the double-ear bracket (208); the motor IV (206) is fixed on the toothed disc bracket (204); the gear on the output shaft of the motor IV (206) is meshed with the gear on one end of the connecting rod frame (207); the motor V (209) is fixed on the double-ear bracket (208); the gear on the output shaft of the motor V (209) is meshed with the gear on the other end of the connecting rod frame (207); and the magnetic leakage sensor (210) is installed on the outside of the motor bracket (201) and the bracket cover plate (205); The suspension assembly (3) comprises a connecting rod III (301), a sliding arc plate (302), a cross connecting frame (303), a cross guide rail (304), and a universal joint (305); wherein the sliding arc plate (302) is installed around the cross guide rail (304), a cross connecting frame (303) is installed in the middle of the cross guide rail (304), the cross connecting frame (303) is hinged to one end of four connecting rods III (301) respectively, the other end of the connecting rod III (301) is hinged to the sliding arc plate (302), the universal joint (305) is installed on the rear side of the cross connecting frame (303), and the gear on the front end surface of the cross connecting frame (303) is meshed with the gear on the output shaft of the motor II (202); The cleaning assembly (4) comprises an electric push rod (401), a star-shaped flange (402), a roller brush bracket (403), and a roller brush (404); wherein the star-shaped flange (402) is respectively hinged to one end of two electric push rods (401) and two roller brush brackets (403); the other end of the roller brush bracket (403) is equipped with a roller brush (404); the other end of the electric push rod (401) is hinged to the middle part of the roller brush bracket (403); and the gear on the front end surface of the star-shaped flange (402) is meshed with the gear on the output shaft of the motor VI (512); The rear drive assembly (5) comprises a rear motor fixing plate (501), a motor V (502), a rear coupling (503), a rear fixing seat (504), a connecting rod IV (505), a rear roller (506), a connecting rod V (507), a rear guide rod (508), a rear connecting plate (509), a rear lead screw (510), a rear nut (511), and a motor VI (512); wherein the rear guide rod (508) passes through the rear nut (511) and the rear fixing seat (504), the two ends of the rear guide rod (508) are fixed on the rear motor fixing plate (501) and the rear connecting plate (509), and the rear fixing seat (504) is fixed on the rear guide rod ( 508), the rear fixed seat (504) is circumferentially hinged to one end of four connecting rods IV (505), the other end of connecting rod IV (505) is installed with a rear roller (506), the rear nut (511) is circumferentially hinged to one end of four connecting rods V (507), the other end of connecting rod V (507) is connected to the middle of connecting rod IV (505), the motor V (502) and the motor VI (512) are fixed on the rear motor fixing plate (501) in reverse, one end of the rear coupling (503) is connected to the motor V (502), the other end of the rear coupling (503) is connected to the rear lead screw (510), and the rear lead screw (510) and the rear nut (511) cooperate; The wire winding assembly (6) comprises a wire winding wheel (601), a wire winding box (602), and a side box cover (603); wherein the wire winding box (602) is provided with the wire winding wheel (601), and the wire winding box (602) is provided with the side box cover (603).

2. A multifunctional operation robot for complex pipe network facilities in a station according to claim 1, characterized in that: The front drive assembly (1) and the turning assembly (2) are connected via a front motor fixing plate (108) and a double-ear bracket (208); the turning assembly (2) and the hovering assembly (3) are connected via a motor bracket (201) and a cross guide rail (304); the hovering assembly (3) and the cleaning assembly (4) are connected via a universal joint; the cleaning assembly (4) and the rear drive assembly (5) are connected via a rear motor fixing plate (501); and the rear drive assembly (5) and the wire winding assembly (6) are connected via a rear connecting plate (509) and a wire winding box (602).

3. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The four side lugs of the front fixing seat (106) are all provided with hinge holes I (1061); four guide rod mounting holes (1062) are provided along the diagonal line at the position close to the chamfer on the front end surface of the front fixing seat (106); a bearing (1063) is provided on the front end surface of the front fixing seat (106); the front guide rod (107) passes through and is fixed on the guide rod mounting hole (1062); the connecting rod I (111) is hinged with the hinge hole I (1061); the connecting rod I (111) can rotate around the axis of the hinge hole I (1061); and the rear end of the front lead screw (102) is fixed on the bearing (1063).

4. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The bottom of the toothed disc bracket (204) is a gear, and the arc-shaped bracket with a hole perpendicular to the gear surface is provided with an axial hole I (2041) and a hinge hole II (2042). The upper end surface of the gear is provided with a through hole I (2043), and the output shaft of the motor IV (206) passes through the axial hole I (2041).

5. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The double-ear bracket (208) is provided with a through hole II (2081) along the diagonal line of the bottom end face, and the arc-shaped bracket arranged perpendicular to the gear surface is provided with a hinge hole III (2082) and an axis hole II (2083), and the output shaft of the motor V (209) passes through the axis hole II (2083).

6. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The outer toothed portion of the sliding arc plate (302) is made of rubber, and the inner portion is a concave sliding groove (3022). A boss I (3021) is provided on the upper surface of the rectangular sliding groove. The concave sliding groove (3022) cooperates with the cross guide rail (304), and the boss I (3021) cooperates with the connecting rod III (301).

7. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The cross guide rail (304) has long strip protrusions (3041) distributed around it, a boss II (3042) is provided on the rear end surface, and a threaded hole (3043) is provided on the front end surface. The long strip protrusion (3041) cooperates with the concave-shaped slide groove (3022), the boss II (3042) cooperates with the motor bracket (201), and the cross guide rail (304) is connected to the universal joint (305) through the threaded hole (3043).

8. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The star-shaped flange (402) has hinge holes IV (4022) distributed around it, and a hollow cylindrical tube (4021) is arranged in the middle. The hinge hole IV (4022) is matched with the electric push rod (401) and the roller brush bracket (403).

9. The multifunctional robot for working inside complex pipe network facilities of a station according to claim 1, characterized in that: The hovering and detection and cleaning of the multifunctional operation robot inside the complex pipe network facilities of the station specifically includes the following steps: S1: Preparation stage: Check the integrity of pipeline robot equipment, including power systems, sensors, cameras and control cables; test the transmission function of cables to ensure stable data and power supply; reasonably set the cable length according to the length and diameter of the pipeline to avoid entanglement or obstruction during operation; S2: Enter the pipeline stage: Open the valve at the end of the pipeline to be inspected, insert the pipeline robot, start the robot, slowly enter the pipeline, and release the cable in an orderly manner from the rear-end cable coiling assembly (6) to avoid excessive stretching or tangling; monitor the robot's operating status and pipeline environment through the camera (101), and adjust the moving speed and posture when necessary; S3: Working stage in pipeline: S31: Vertical pipe section hovering: When the pipeline robot enters the vertical pipe section, the cross connecting frame (303) rotates, driving the sliding arc plate (302) to expand outward along the cross guide rail (304) to form a radial structure. At this time, the sliding arc plate (302) is in a state close to the pipe wall; if slipping occurs or cleaning inspection is performed, the cross connecting frame (303) continues to rotate, and the sliding arc plate (302) squeezes the pipe wall to lock the robot in the vertical direction to ensure that it hovers stably; S32: Vertical pipe section bend: When the pipeline robot enters the vertical pipeline section from the horizontal pipeline section, the motor IV (206) rotates to change the angle between the toothed disc bracket (204) and the connecting rod bracket (207), and the motor V (209) rotates to change the angle between the double-ear bracket (208) and the connecting rod bracket (207), thereby changing the posture of the front drive component (1). The front roller (105) in the front drive component (1) is at the frontmost position, driving the pipeline robot to enter the pipeline, and continuously changing the toothed disc bracket (204), the connecting rod bracket (207) and the double-ear bracket (208), so that the pipeline robot can turn smoothly; the rotation of the toothed disc bracket (204) enables the robot to adapt to the three-dimensional curves of different turning planes to perform the above-mentioned turning; S33: Cleaning and testing: The rotation of the star-shaped flange (402) drives the roller brush (404) to rotate and clean the pipe wall surface, and the electric push rod (401) pushes the roller brush (404) to change its position, thereby realizing the detection of pipes with different radii; when the pipeline robot performs specific position detection, the front-end camera (101) is used to collect images, and determine the specific position of the defect through the mark in the image; at the same time, the steel brush (104) transmits the magnetic field to the inner surface of the pipe, and the magnetic leakage sensor (210) senses the magnetic signal to perform defect detection, and by comparing the change of the magnetic leakage signal with the normal signal, the defects in the pipe can be accurately identified; S4: Exit pipeline stage: When exiting the pipeline, the rear cable winding assembly (6) simultaneously retracts the cable to ensure a smooth and lossless cable retraction process. The status of the robot and the cable are monitored in real time to avoid damage to the pipeline during the exit process. After exiting, the robot and the cable are thoroughly cleaned and inspected to ensure the next safe and reliable use of the equipment. The operation data and images are collated to generate a complete report for subsequent analysis.

Images