A miniature robot for inspecting graphite heat exchanger pipelines

Abstract

This invention discloses a micro-robot for inspecting graphite heat exchanger pipelines, belonging to the field of robotics. It includes a first outer shell, a first telescopic walking mechanism, a universal joint mechanism, a second outer shell, a second telescopic walking mechanism, a protective cover, a lighting fixture, a camera, a mounting base, and a sealing plug. The invention utilizes a unique telescopic walking mechanism driven by two motors to achieve stable support and movement of the robot within the pipeline, facilitating easy entry. The universal joint mechanism adapts to pipeline turns and angle changes, and, in conjunction with the bellows-structured universal sheath, ensures both sealing and structural integrity while guaranteeing stable movement of the robot through complex pipeline layouts. During the robot's movement, the two telescopic walking mechanisms work synchronously, propelling the robot deeper into the pipeline. The lighting fixture and camera enable real-time imaging of the pipeline interior, allowing operators to easily assess for issues such as cracks, corrosion, and blockages.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a micro-robot for inspecting graphite heat exchanger pipelines. Background Technology

[0002] In industrial production, graphite heat exchangers are widely used in many industries such as chemical, metallurgical, and pharmaceutical industries due to their excellent corrosion resistance and thermal conductivity, undertaking the key task of heat exchange. However, because their working environment is often complex, and the pipelines are subjected to various factors such as high temperature, high pressure, and chemical media corrosion for a long time, they are prone to problems such as cracks, corrosion, and blockage.

[0003] Traditional methods for inspecting graphite heat exchanger piping have several drawbacks. Manual inspection is not only inefficient, but also poses significant safety risks due to the confined space and harsh environment within the piping. Furthermore, manual inspection is highly subjective and prone to oversights. While some inspection methods using large-scale equipment have improved accuracy to some extent, they often require extensive disassembly of the heat exchanger, which is time-consuming, labor-intensive, and may cause additional damage to the equipment, increasing maintenance costs and downtime.

[0004] With the continuous advancement of industrial automation and intelligentization, higher demands are being placed on graphite heat exchanger pipeline inspection technology. Developing equipment capable of efficiently, accurately, and safely inspecting graphite heat exchanger pipelines has become an urgent problem to be solved. Against this backdrop, a micro-robot for graphite heat exchanger pipeline inspection has emerged. Summary of the Invention

[0005] The purpose of this invention is to provide a micro-robot for inspecting graphite heat exchanger pipelines in order to solve the above-mentioned problems. This solves the problems of low efficiency of traditional inspection methods, danger and easy omissions in manual inspection, and the need to disassemble and damage equipment for the inspection of large equipment.

[0006] To address the aforementioned problems, this invention provides a technical solution: a micro-robot for inspecting graphite heat exchanger pipelines, comprising a first outer shell, a first telescopic walking mechanism, a universal joint, a second outer shell, a second telescopic walking mechanism, a protective cover, lighting lamps, a camera, a mounting base, and a sealing plug; the first telescopic walking mechanism is centrally located inside the first outer shell; the right side of the first outer shell is connected to the center left side of the second outer shell via the universal joint; the second telescopic walking mechanism is centrally located inside the second outer shell; the protective cover is fixedly connected to the center right side of the second outer shell; the mounting base is located centrally inside the protective cover and is fixedly connected to the center right side of the second outer shell, with a camera fixedly connected to the center right side of the mounting base; several lighting lamps are evenly distributed around the mounting base; the sealing plug is located at the opening in the center left side of the first outer shell.

[0007] Preferably, the telescopic walking mechanism two has the same structure as the telescopic walking mechanism one. The specific structure of the telescopic walking mechanism one includes a turntable, an end face spiral groove, a slider, a telescopic arm, a splined sleeve, a splined shaft, walking wheels, a transmission shaft, transmission gear one, transmission gear two, guide holes, an inner cavity, a motor one, a driving gear one, a driven gear two, a driven gear one, a transmission sleeve, a driving gear two, a motor two, a connecting sleeve, a connecting gear one, and a connecting gear two; the inner cavity is located inside the left side of the outer shell one, and several guide holes are opened around the right side of the inner cavity; the transmission sleeve is movably connected to... The transmission sleeve is fixedly connected to the outer right side of the central interior of the outer casing, with a driven gear two fixedly connected thereto. The turntable is movably connected to the left side of the inner cavity, with its central interior fixedly connected to the outer left side of the transmission sleeve. A spiral groove is formed on the right end face of the turntable. Several telescopic arms are present, each externally movably connected to a corresponding guide hole. A transmission shaft is movably connected to the inner exterior of each telescopic arm, and a traveling wheel is fixedly connected to the outer end of each transmission shaft. Furthermore, a transmission gear one is fixedly connected to the outer center of each transmission shaft. The inner sides of the telescopic arms... Each side has a fixed slider, and the outer left side of each slider is movably connected to the interior of the spiral groove on the end face; there are several spline hole sleeves, each movably connected to the center of the corresponding telescopic arm, and each outer end of the spline hole sleeve is fixedly connected to a second transmission gear, which is connected to a corresponding first transmission gear; the connecting sleeve is movably connected to the outside of the center of the transmission sleeve, and the right end of the connecting sleeve is fixedly connected to a driven gear, and the left end of the connecting sleeve is fixedly connected to a connecting gear; there are several spline shafts, and each spline hole sleeve is movably connected to the center of the telescopic arm. Each key shaft is connected to the corresponding spline hole inside the spline sleeve. Several spline shafts are fixedly connected to the inner ends of each connecting gear two, and each connecting gear two is connected to the connecting gear one. The motor one is fixedly connected inside the upper right side of the outer casing one. The lower output shaft of the motor one is fixedly connected to the driving gear one, and the driving gear one is connected to the upper right tooth of the driven gear one. The motor two is fixedly connected inside the lower right side of the outer casing one. The upper output shaft of the motor two is fixedly connected to the driving gear two, and the driving gear two is connected to the lower left tooth of the driven gear two.

[0008] Preferably, both motor one and motor two are servo motors or stepper motors.

[0009] Preferably, the guide hole is a rectangular guide hole and matches the outside of the telescopic arm.

[0010] Preferably, the outer left side of the slider matches the inner side of the helical groove on the end face.

[0011] Preferably, the universal connection mechanism includes a universal sleeve, a fixed base, a spherical cavity, a spherical surface, a through hole, and a connecting block. The left side of the universal sleeve is fixedly connected to the right side of the outer shell, and the right side of the universal sleeve is fixedly connected to the left side of the outer shell. The fixed base is located inside the universal sleeve, and its left side is fixedly connected to the center of the right side of the outer shell. A spherical cavity is provided inside the center of the fixed base. The connecting block is located inside the universal sleeve, and its right side is fixedly connected to the center of the left side of the outer shell. A transverse through hole is provided inside the center of the connecting block, and a spherical surface is provided on the outer left side of the connecting block, which is movably connected to the inside of the right side of the spherical cavity.

[0012] Preferably, the universal sleeve is a corrugated pipe.

[0013] Preferably, the protective cover is a transparent hemispherical protective cover.

[0014] The beneficial effects of the present invention are: (1) The present invention has the characteristics of reasonable and simple structure, low production cost and convenient installation. Through the unique telescopic walking mechanism driven by dual motors, the robot can achieve stable support and movement in the pipeline, which is convenient for entering the pipeline.

[0015] (2) The universal connection mechanism set in this invention can adapt to the turning and angle changes of the pipeline. Combined with the universal sleeve of the corrugated pipe structure, it ensures the robot can move stably in the complex pipeline while ensuring the sealing and structural integrity.

[0016] (3) During the robot's forward movement, the double telescopic walking mechanism works synchronously to push the robot deep into the pipeline. The lighting and camera are used to take real-time pictures of the pipeline, which makes it easier for operators to judge whether there are cracks, corrosion, blockages or other problems in the pipeline. Attached Figure Description

[0017] Figure 1 It is a structural schematic diagram of the present invention.

[0018] Figure 2 for Figure 1 A sectional view.

[0019] Figure 3 This is a schematic diagram of the telescopic walking mechanism.

[0020] Figure 4 This is a schematic diagram of the universal joint mechanism.

[0021] 1-Outer shell one; 2-Telescopic walking mechanism one; 3-Universal connection mechanism; 4-Outer shell two; 5-Telescopic walking mechanism two; 6-Guard cover; 7-Lighting lamp; 8-Camera; 9-Mounting base; 10-Sealing plug; 21-Turntable; 22-End face spiral groove; 23-Slider; 24-Telescopic arm; 25-Spline hole sleeve; 26-Spline shaft; 27-Walking wheel; 28-Drive shaft; 29-Drive gear one; 210-Drive gear two ; 211-Guide hole; 212-Inner cavity; 213-Motor 1; 214-Driving gear 1; 215-Driven gear 2; 216-Driven gear 1; 217-Transmission sleeve; 218-Driving gear 2; 219-Motor 2; 220-Connecting sleeve; 221-Connecting gear 1; 222-Connecting gear 2; 31-Universal sleeve; 32-Fixed base; 33-Spherical cavity; 34-Spherical surface; 35-Through hole; 36-Connecting block. Detailed Implementation

[0022] like Figure 1 and Figure 2 As shown, this specific embodiment adopts the following technical solution: A micro-robot for inspecting graphite heat exchanger pipelines includes an outer shell 1, a telescopic walking mechanism 2, a universal connection mechanism 3, an outer shell 4, a telescopic walking mechanism 5, a protective cover 6, a lighting lamp 7, a camera 8, a mounting base 9, and a sealing plug 10; the telescopic walking mechanism 2 is centrally located inside the outer shell 1; the right side of the outer shell 1 is connected to the left center of the outer shell 4 via the universal connection mechanism 3; the telescopic walking mechanism 5 is centrally located inside the outer shell 4; the protective cover 6 is fixedly connected to the right center of the outer shell 4; the mounting base 9 is located in the center inside the protective cover 6, and the mounting base 9 is fixedly connected to the right center of the outer shell 4, with the camera 8 fixedly connected to the right center of the mounting base 9; there are several lighting lamps 7, which are evenly distributed around the mounting base 9; the sealing plug 10 is located at the left center opening of the outer shell 1.

[0023] like Figure 3As shown, the telescopic walking mechanism 25 has the same structure as the telescopic walking mechanism 12. The specific structure of the telescopic walking mechanism 12 includes a turntable 21, an end face spiral groove 22, a slider 23, a telescopic arm 24, a spline hole sleeve 25, a spline shaft 26, a walking wheel 27, a transmission shaft 28, a transmission gear 1 29, a transmission gear 2 210, a guide hole 211, an inner cavity 212, a motor 1 213, a driving gear 1 214, a driven gear 2 215, a driven gear 1 216, a transmission sleeve 217, a driving gear 2 218, a motor 2 219, a connecting sleeve 220, a connecting gear 1 221, and a connecting gear 2 222. The inner cavity 212 is located inside the left side of the outer shell 1, and the right side of the inner cavity 212 is open around the perimeter. The enclosure has several guide holes 211; the transmission sleeve 217 is movably connected to the center of the outer shell 1, and a driven gear 215 is fixedly connected to the outer right side of the transmission sleeve 217; the turntable 21 is movably connected to the left side of the inner cavity 212, and the center of the turntable 21 is fixedly connected to the outer left side of the transmission sleeve 217, and a spiral groove 22 is formed on the right end face of the turntable 21; there are several telescopic arms 24, and the outer sides of the telescopic arms 24 are movably connected to the corresponding guide holes 211. A drive shaft 28 is movably connected to the inner side of each telescopic arm 24, and a traveling wheel 27 is fixedly connected to the outer end of each drive shaft 28. Additionally, a drive gear 29 is fixedly connected to the outer center of each drive shaft 28. Each of the telescopic arms 24 has a slider 23 fixedly connected to its inner left side, and the outer left side of each slider 23 is movably connected to the interior of the end face spiral groove 22; there are several spline hole sleeves 25, each movably connected to the center interior of its corresponding telescopic arm 24, and each outer end of the spline hole sleeve 25 is fixedly connected to a transmission gear 210, which is connected to a corresponding transmission gear 29; the connecting sleeve 220 is movably connected to the center exterior of the transmission sleeve 217, and the right end of the connecting sleeve 220 is fixedly connected to a driven gear 216, and the left end of the connecting sleeve 220 is fixedly connected to a connecting gear 221; there are several spline shafts 26, each... Each of the splined shafts 26 is connected to the splined hole inside the corresponding splined sleeve 25. A connecting gear 222 is fixedly connected to the inner end of each of the splined shafts 26, and the connecting gear 222 is connected to the connecting gear 221. The motor 213 is fixedly connected to the upper right side of the outer casing 1. A driving gear 214 is fixedly connected to the lower output shaft of the motor 213, and the driving gear 214 is connected to the upper right tooth of the driven gear 216. The motor 219 is fixedly connected to the lower right side of the outer casing 1. A driving gear 218 is fixedly connected to the upper output shaft of the motor 219, and the driving gear 218 is connected to the lower left tooth of the driven gear 215.

[0024] Among them, motor 213 and motor 219 are both servo motors or stepper motors; the guide hole 211 is a rectangular guide hole and matches the outside of the telescopic arm 24; the left side of the slider 23 matches the inside of the end face spiral groove 22.

[0025] like Figure 4 As shown, the specific structure of the universal connection mechanism 3 includes a universal sleeve 31, a fixed base 32, a spherical cavity 33, a spherical surface 34, a through hole 35, and a connecting block 36. The left side of the universal sleeve 31 is fixedly connected to the right side of the outer shell 1, and the right side of the universal sleeve 31 is fixedly connected to the left side of the outer shell 2 4. The fixed base 32 is located inside the universal sleeve 31, and the left side of the fixed base 32 is fixedly connected to the center of the right side of the outer shell 1. The center of the fixed base 32 has a spherical cavity 33. The connecting block 36 is located inside the universal sleeve 31, and the right side of the connecting block 36 is fixedly connected to the center of the left side of the outer shell 2 4. The center of the connecting block 36 has a transverse through hole 35, and the left side of the connecting block 36 has a spherical surface 34, which is movably connected to the right side of the spherical cavity 33.

[0026] The universal sleeve 31 is a corrugated pipe; the cover 6 is a transparent hemispherical protective cover.

[0027] The invention is used as follows: It features a simple and reasonable structure, low production cost, and convenient installation. In use, the robot is first placed in the pipeline, and then motor 219 is started. Its output shaft drives the active gear 218 to rotate. The active gear 218 drives the driven gear 215. Since the driven gear 215 is fixed to the transmission sleeve 217, the transmission sleeve 217 rotates within the center of the outer shell 1. The left side of the transmission sleeve 217 is fixed to the turntable 21, and the turntable 21 also rotates. The helical groove 22 on the right side of the turntable 21 engages with the slider 23. When the turntable 21 rotates, the slider 23 moves within the helical groove 22, driving the slider fixed to the turntable 21. The telescopic arm 24 on block 23 extends outward along the guide hole 211. The walking wheel 27 on the outer side of the telescopic arm 24 gradually contacts the inner wall of the graphite heat exchanger pipe and generates sufficient friction to support the robot. Then, motor 213 is started, and its output shaft drives the drive gear 214 to rotate. The drive gear 214 drives the driven gear 216, which in turn drives the connecting sleeve 220 to rotate. The connecting gear 221 on the left side of the connecting sleeve 220 meshes with the connecting gear 222 at the end of the spline shaft 26, causing the spline shaft 26 to rotate inside the spline hole sleeve 25. The transmission gear 210 on the outer side of the spline hole sleeve 25 drives the transmission gear 29 to rotate, driving the walking wheel 27 to rotate. The robot is slowly propelled into the pipeline. When the robot encounters a turn or angle change in the pipeline, a relative angle change occurs between outer shell 1 and outer shell 4. At this time, the spherical surface 34 on the left side of the connecting block 36 moves within the spherical cavity 33 of the fixed seat 32. The universal connection mechanism 3 can adapt to different bending angles. Simultaneously, the universal sleeve 31 has a corrugated pipe structure, which can deform accordingly with the angle changes of outer shell 1 and outer shell 4, maintaining the overall sealing and structural integrity of the robot and ensuring that the robot continues to move forward in the complex pipeline. As the robot moves forward in the pipeline, the telescopic walking mechanism 2 also starts to work simultaneously. Its working principle is the same as the telescopic mechanism. Similar to the first and second telescopic walking mechanisms, by activating the corresponding motor, the telescopic arm extends, and the walking wheels contact the inner wall of the pipeline, further propelling the robot deeper into the pipeline. The lighting 7 is turned on to illuminate the internal environment of the pipeline, and the camera 8 takes real-time pictures of the inside of the pipeline. The captured image information is transmitted to the external control system via cable or wireless transmission. The operator judges whether there are problems such as cracks, corrosion, or blockages in the pipeline based on the images. After completing the inspection task, the walking wheels are reversed, driving the robot to slowly exit the pipeline. Then, the first and second telescopic walking mechanisms move in opposite directions to facilitate the complete exit of the robot from the pipeline. Finally, the lighting 7 and camera 8 are turned off.

[0028] The control method of this invention is either manual start-up or control through existing automation technology. The wiring diagram of the power element and the supply of power are common knowledge in the field. Furthermore, since this invention is mainly used to protect mechanical devices, the control method and wiring layout will not be explained in detail here.

[0029] In the description of the invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," 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 invention 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 invention.

[0030] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the invention. Those skilled in the art should understand that the invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications may be made to the invention without departing from its spirit and scope. All such changes and modifications fall within the scope of the invention as claimed, which is defined by the appended claims and their equivalents.

Claims

1. A microrobot for inspecting graphite heat exchanger pipelines, characterized in that: It includes outer shell 1 (1), telescopic walking mechanism 1 (2), universal connection mechanism (3), outer shell 2 (4), telescopic walking mechanism 2 (5), protective cover (6), lighting lamp (7), camera (8), mounting base (9) and sealing plug (10); The telescopic walking mechanism 1 (2) is centrally located inside the outer shell 1 (1); The right side of the outer shell (1) is connected to the center of the left side of the outer shell (4) via a universal joint (3); The telescopic walking mechanism 2 (5) is centrally located inside the outer shell 2 (4); The protective cover (6) is fixedly connected to the center of the right side of the outer shell (4); The mounting base (9) is located in the center inside the protective cover (6). The mounting base (9) is fixedly connected to the center of the right side of the outer shell (4). A camera (8) is fixedly connected to the center of the right side of the mounting base (9). There are several lighting lamps (7), and the several lighting lamps (7) are evenly arranged inside the mounting base (9); The sealing plug (10) is located at the central opening on the left side of the outer shell (1); The telescopic walking mechanism 2 (5) has the same structure as the telescopic walking mechanism 1 (2). The specific structure of the telescopic walking mechanism 1 (2) includes a turntable (21), an end face spiral groove (22), a slider (23), a telescopic arm (24), a spline hole sleeve (25), a spline shaft (26), a walking wheel (27), a transmission shaft (28), a transmission gear 1 (29), a transmission gear 2 (210), a guide hole (211), an inner cavity (212), a motor 1 (213), a driving gear 1 (214), a driven gear 2 (215), a driven gear 1 (216), a transmission sleeve (217), a driving gear 2 (218), a motor 2 (219), a connecting sleeve (220), a connecting gear 1 (221), and a connecting gear 2 (222). The inner cavity (212) is located inside the left side of the outer shell (1), and several guide holes (211) are provided around the right side of the inner cavity (212). The transmission sleeve (217) is movably connected to the center of the outer shell (1), and the driven gear (215) is fixedly connected to the outside of the right side of the transmission sleeve (217). The turntable (21) is movably connected to the left side of the inner cavity (212). The center of the turntable (21) is fixedly connected to the left side of the transmission sleeve (217). A spiral groove (22) is provided on the right end face of the turntable (21). There are several telescopic arms (24), and the telescopic arms (24) are movably connected to the corresponding guide holes (211) on the outside. The telescopic arms (24) are all movably connected to the drive shaft (28) on the outside, and the drive shaft (28) is fixedly connected to the outer end of the drive shaft (28). In addition, the drive shaft (28) is fixedly connected to the center of the drive shaft (28). The telescopic arms (24) are all fixedly connected to the left side of the inner side of the telescopic arms (24). The left side of the slider (23) is movably connected to the end face spiral groove (22). There are several spline hole sleeves (25), and several spline hole sleeves (25) are movably connected to the center of the corresponding telescopic arm (24). The outer ends of several spline hole sleeves (25) are fixedly connected to the transmission gear two (210), and the transmission gear two (210) is connected to the corresponding transmission gear one (29). The connecting sleeve (220) is internally movably connected to the outside of the center of the transmission sleeve (217). A driven gear (216) is fixedly connected to the right end of the connecting sleeve (220), and a connecting gear (221) is fixedly connected to the left end of the connecting sleeve (220). There are several spline shafts (26), and each spline shaft (26) is connected to the spline hole inside the corresponding spline hole sleeve (25). Each spline shaft (26) has a connecting gear two (222) fixedly connected to its inner end, and the connecting gear two (222) is connected to the connecting gear one (221). The motor (213) is fixedly connected inside the upper right side of the outer casing (1). The drive gear (214) is fixedly connected to the lower output shaft of the motor (213), and the drive gear (214) is connected to the upper right tooth of the driven gear (216). The second motor (219) is fixedly connected inside the lower right side of the outer casing (1). The second drive gear (218) is fixedly connected to the upper output shaft of the second motor (219), and the second drive gear (218) is connected to the lower left tooth of the driven gear (215).

2. The microrobot for inspecting graphite heat exchanger pipelines according to claim 1, characterized in that: Both motor one (213) and motor two (219) are servo motors or stepper motors.

3. The microrobot for inspecting graphite heat exchanger pipelines according to claim 1, characterized in that: The guide hole (211) is a rectangular guide hole and matches the outside of the telescopic arm (24).

4. The microrobot for inspecting graphite heat exchanger pipelines according to claim 1, characterized in that: The outer left side of the slider (23) matches the inner side of the end face spiral groove (22).

5. The microrobot for inspecting graphite heat exchanger pipelines according to claim 1, characterized in that: The specific structure of the universal connection mechanism (3) includes a universal sleeve (31), a fixed base (32), a spherical cavity (33), a spherical surface (34), a through hole (35), and a connecting block (36). The left side of the universal sleeve (31) is fixedly connected to the right side of the outer shell (1), and the right side of the universal sleeve (31) is fixedly connected to the left side of the outer shell (4). The fixing seat (32) is located inside the universal sleeve (31). The left side of the fixing seat (32) is fixedly connected to the center of the right side of the outer shell (1). A spherical cavity (33) is provided inside the center of the fixing seat (32). The connecting block (36) is located inside the universal sleeve (31). The right side of the connecting block (36) is fixedly connected to the center of the left side of the outer shell (4). The center of the connecting block (36) has a transverse through hole (35). The left side of the connecting block (36) has a spherical surface (34), and the spherical surface (34) is movably connected to the right side of the spherical cavity (33).

6. The microrobot for inspecting graphite heat exchanger pipelines according to claim 5, characterized in that: The universal sleeve (31) is a corrugated pipe.

7. The microrobot for inspecting graphite heat exchanger pipelines according to claim 1, characterized in that: The protective cover (6) is a transparent hemispherical protective cover.

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