Diameter-variable and steerable pipeline detecting and cleaning robot

Abstract

The invention relates to the technical field of pipeline robots, and discloses a diameter-variable and steerable pipeline detecting and cleaning robot which comprises a barrel, a middle plate fixedly sleeves the center of the outer portion of the barrel, a front frame movably sleeves one end of the barrel, an annular cutter head is rotatably connected to one end of the front frame, an inner gear ring is connected to one end of the annular cutter head, and an outer gear ring is connected to the other end of the annular cutter head. The other end of the cylinder is movably sleeved with a rear frame, and one end of the rear frame is connected with an end plate. The front fixing air cylinder and the rear fixing air cylinder on the two sides stretch out to abut against the inner wall of a pipeline, so that the stability of the robot in the pipelines with different diameters is adjusted, the robot can adapt to the pipelines with different diameters, stable operation in various pipelines is ensured, and the universality and practicability of the equipment are improved; by means of the steerable design, the robot can flexibly move in a complex pipeline, work tasks are completed, and a wider maintenance area is covered; the device integrates the functions of detection, cleaning and steering, and the comprehensive efficiency of pipeline maintenance is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of pipeline robots, and in particular relates to a pipeline detection and cleaning robot which is variable in diameter and steerable. Background Art

[0002] Pipelines play an extremely important role in the fields of petrochemicals, natural gas, nuclear industry, water supply and drainage, pipeline transportation, etc. Affected by various factors, the internal environment of pipelines will change after long-term use. In order to ensure safe production and normal use, internal inspection and dredging are required. The pipeline robots put into use in China often slip in the pipeline during use, cannot adapt to changes in the inner diameter of the pipeline, cannot be used in curved parts of the pipeline, do not have explosion-proof performance, do not have dredging function, and are difficult to adapt to complex situations in the pipeline. Summary of the invention

[0003] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a pipeline inspection and cleaning robot with variable diameter and steerable properties, which effectively solves the problems raised in the above background.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a variable-diameter, steerable pipeline inspection and cleaning robot, comprising a cylinder, a middle plate is fixedly sleeved at the center of the outer part of the cylinder, a front frame is movably sleeved at one end of the cylinder, an annular cutter disc is rotatably connected at one end of the front frame, an inner gear ring is connected at one end of the annular cutter disc, a rear frame is movably sleeved at the other end of the cylinder, and an end plate is connected at one end of the rear frame; The upper wall inside the cylinder is rotatably connected to two upper connecting shafts, both ends of the two upper connecting shafts are rotatably connected to connecting rods, the lower parts of the connecting rods are rotatably connected to the lower connecting shafts, a mounting rod is connected between the two lower connecting shafts, a camera is mounted on one end of the mounting rod, the upper rotating rod is rotatably connected to the upper wall of the cylinder, a telescopic cylinder is connected to the middle part of the lower end of the upper rotating rod, one end of the telescopic cylinder is connected to the lower rotating rod, the lower rotating rod is rotatably installed between one group of connecting rods, and the camera is driven to extend out of the cylinder or retract through the extension and retraction of the telescopic cylinder.

[0005] Preferably, the front frame is fixedly sleeved with a front plate on the outside, and the rear frame is fixedly sleeved with a rear plate on the outside. A front push cylinder is rotatably connected between the upper and lower parts of the front plate and the middle plate, and a rear push cylinder is rotatably provided between the upper and lower parts of the rear plate and the middle plate. Front fixed cylinders are installed on both sides of the front plate, and rear fixed cylinders are installed on both sides of the rear plate.

[0006] Preferably, both ends of the front thrust cylinder are rotatably connected to the front plate and the middle plate via a first rotating member, and both ends of the rear thrust cylinder are rotatably connected to the rear plate and the middle plate via a second rotating member.

[0007] Preferably, the first rotating member and the second rotating member both include a first U-shaped seat, and the first U-shaped seat is externally rotatably connected to a second U-shaped seat.

[0008] Preferably, the middle plate, the front plate and the lower part of the rear plate are all rotatably mounted with a transverse axis, and both ends of the transverse axis are connected with rollers.

[0009] Preferably, a transmission bevel gear is fixedly sleeved on the outside of the horizontal axis located at the lower part of the rear plate, a T-slot is provided on one side of the interior of the cylinder, the transmission bevel gear is located in the longitudinal groove of the T-slot, an integrated drive assembly is provided on one side of the interior of the cylinder, and the integrated drive assembly is used in conjunction with the inner gear ring and the transmission bevel gear.

[0010] Preferably, the integrated drive assembly includes a drive box, the internal central rotation of the drive box is connected to the main shaft, the external fixed sleeve of the main shaft is connected to two drive gears, and an air motor is provided on the external side of the drive box, and the output end of the air motor is connected to the extension section of the main shaft.

[0011] Preferably, a first transmission shaft is rotatably connected to one side of the interior of the drive box, one end of the first transmission shaft extends to the outside of the drive box and is connected to a driving spur gear, the driving spur gear is movably engaged with the inner gear ring, the outer wall of the first transmission shaft is sleeved with two first transmission gears through a key pin, the two first transmission gears can move axially along the outer wall of the first transmission shaft, the outer wall of the drive box is connected to a first protective shell, a first cylinder is installed inside the first protective shell, the output end of the first cylinder is connected to a first fixing rod, one end of the first fixing rod extends through the drive box and is connected to a first transverse push piece, the first transverse push piece is movably sleeved on the outside of the first transmission shaft.

[0012] Preferably, a second transmission shaft is rotatably connected to one side of the interior of the driving box, one end of the second transmission shaft extends to the outside of the driving box and is connected to a driving bevel gear, the driving bevel gear is movably meshed with the transmission bevel gear, the driving bevel gear is located in a transverse groove of the T-slot, and the outer wall of the second transmission shaft is connected to two second transmission gears through a key pin, and the two second transmission gears can move axially along the outer wall of the second transmission shaft, the outer wall of the driving box is connected to a second protective shell, a second cylinder is installed inside the second protective shell, the output end of the second cylinder is connected to a second fixing rod, one end of the second fixing rod extends through the driving box and is connected to a second transverse push piece, and the second transverse push piece is movably sleeved on the outside of the second transmission shaft.

[0013] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention extends the front fixed cylinder and the rear fixed cylinder on both sides to abut against the inner wall of the pipeline, thereby adjusting the stability of the robot in pipelines of different diameters, so that it can adapt to pipelines of different diameters, ensuring stable operation in various pipelines, and improving the versatility and practicality of the equipment; 2. The invention's steerable design enables the robot to move flexibly in complex pipelines, complete tasks, and cover a wider maintenance area; 3. The design of the telescopic mechanism of the camera of the invention effectively prevents the camera from being contaminated by sewage and ensures the accuracy of the detection data; 3. The invention integrates detection, cleaning and diverting functions into one, thereby improving the overall efficiency of pipeline maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0015] In the attached picture: Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is another perspective structural schematic diagram of the present invention; Figure 3 is a side view of the present invention; Figure 4 It is a front view of the present invention; Figure 5 is a cross-sectional view of the present invention; Figure 6 The schematic diagram of the structure of the integrated drive assembly of the present invention is Figure 7 It is a schematic structural diagram of the first rotating member of the present invention; Figure 8 It is the PLC wiring diagram of the present invention; Fig. 9 The pneumatic control principle diagram of the present invention; In the figure: 1, cylinder; 2, middle plate; 3, front frame; 4, annular cutter disc; 5, inner gear ring; 6, T-slot; 7, integrated drive assembly; 701, drive box; 702, main shaft; 703, drive gear; 704, pneumatic motor; 705, first transmission shaft; 706, drive spur gear; 707, first transmission gear; 708, first protective shell; 709, first cylinder; 710, first fixing rod; 711, first horizontal push piece; 712, second transmission shaft; 713, drive helical gear; 714, second transmission gear; 715, second protective shell; 716, second Cylinder; 717, second fixed rod; 718, second horizontal push member; 8, rear frame; 9, end plate; 10, upper connecting shaft; 11, connecting rod; 12, lower connecting shaft; 13, mounting rod; 14, camera; 15, upper rotating rod; 16, telescopic cylinder; 17, lower rotating rod; 18, front plate; 19, rear plate; 20, front pushing cylinder; 21, rear pushing cylinder; 22, front fixed cylinder; 23, rear fixed cylinder; 24, first rotating member; 2401, first U-shaped seat; 2402, second U-shaped seat; 25, second rotating member; 26, horizontal axis; 27, roller; 28, transmission bevel gear. DETAILED DESCRIPTION

[0016] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0017] Embodiment 1, by Figure 1-Figure 9 The present invention comprises a cylinder 1, a middle plate 2 is fixedly sleeved at the center of the cylinder 1, a front frame 3 is movably sleeved at one end of the cylinder 1, an annular cutter disc 4 is rotatably connected at one end of the front frame 3, an inner gear ring 5 is connected at one end of the annular cutter disc 4, a rear frame 8 is movably sleeved at the other end of the cylinder 1, and an end plate 9 is connected at one end of the rear frame 8; Two upper connecting shafts 10 are rotatably connected to the upper wall inside the cylinder 1, and connecting rods 11 are rotatably connected at both ends of the two upper connecting shafts 10. A lower connecting shaft 12 is rotatably connected between the lower parts of the connecting rods 11, and a mounting rod 13 is connected between the two lower connecting shafts 12. A camera 14 is mounted on one end of the mounting rod 13. An upper rotating rod 15 is rotatably connected to the upper wall of the cylinder 1, and a telescopic cylinder 16 is connected to the middle part of the lower end of the upper rotating rod 15. A lower rotating rod 17 is connected to one end of the telescopic cylinder 16. The lower rotating rod 17 is rotatably installed between one group of connecting rods 11, and the camera 14 is driven to extend out of the cylinder 1 or retract through the telescopic cylinder 16.

[0018] A front plate 18 is fixedly sleeved on the outside of the front frame 3, and a rear plate 19 is fixedly sleeved on the outside of the rear frame 8. A front push cylinder 20 is rotatably connected between the upper and lower parts of the front plate 18 and the middle plate 2, and a rear push cylinder 21 is rotatably provided between the upper and lower parts of the rear plate 19 and the middle plate 2. Front fixed cylinders 22 are installed on both sides of the front plate 18, and rear fixed cylinders 23 are installed on both sides of the rear plate 19.

[0019] Both ends of the front push cylinder 20 are rotatably connected to the front plate 18 and the middle plate 2 via a first rotating member 24 , and both ends of the rear push cylinder 21 are rotatably connected to the rear plate 19 and the middle plate 2 via a second rotating member 25 .

[0020] The first rotating member 24 and the second rotating member 25 both include a first U-shaped seat 2401 , and the first U-shaped seat 2401 is externally rotatably connected to a second U-shaped seat 2402 .

[0021] A transverse shaft 26 is rotatably mounted on the lower parts of the middle plate 2 , the front plate 18 and the rear plate 19 , and rollers 27 are connected to both ends of the transverse shaft 26 .

[0022] A transmission bevel gear 28 is fixedly sleeved on the outside of the horizontal shaft 26 located at the lower part of the rear plate 19, a T-slot 6 is provided on one side inside the cylinder 1, and the transmission bevel gear 28 is located in the longitudinal groove of the T-slot 6, and an integrated drive assembly 7 is provided on one side inside the cylinder 1, and the integrated drive assembly 7 is used in conjunction with the inner gear ring 5 and the transmission bevel gear 28.

[0023] The integrated drive assembly 7 includes a drive box 701, the inner central rotation of the drive box 701 is connected to a main shaft 702, the outer fixed sleeve of the main shaft 702 is connected to two drive gears 703, and an air motor 704 is provided on one side of the outer side of the drive box 701, and the output end of the air motor 704 is connected to the extension section of the main shaft 702.

[0024] A first transmission shaft 705 is rotatably connected to one side of the interior of the drive box 701, and one end of the first transmission shaft 705 extends to the outside of the drive box 701 and is connected to a driving spur gear 706, which is movably meshed with the inner gear ring 5. Two first transmission gears 707 are connected to the outer wall of the first transmission shaft 705 through a key pin, and the two first transmission gears 707 can move axially along the outer wall of the first transmission shaft 705. A first protective shell 708 is connected to the outer wall of the drive box 701, and a first cylinder 709 is installed inside the first protective shell 708. The output end of the first cylinder 709 is connected to a first fixing rod 710, and one end of the first fixing rod 710 extends through the drive box 701 and is connected to a first transverse push piece 711, which is movably sleeved on the outside of the first transmission shaft 705.

[0025] A second transmission shaft 712 is rotatably connected to one side of the interior of the drive box 701, and one end of the second transmission shaft 712 extends to the outside of the drive box 701 and is connected to a driving bevel gear 713, which is movably meshed with the transmission bevel gear 28. The driving bevel gear 713 is located in the transverse groove of the T-slot 6, and the outer wall of the second transmission shaft 712 is connected to two second transmission gears 714 through a key pin. The two second transmission gears 714 can move axially along the outer wall of the second transmission shaft 712, and the outer wall of the drive box 701 is connected to a second protective shell 715, and a second cylinder 716 is installed inside the second protective shell 715. The output end of the second cylinder 716 is connected to a second fixing rod 717, and one end of the second fixing rod 717 extends through the drive box 701 and is connected to a second transverse push piece 718, which is movably sleeved on the outside of the second transmission shaft 712.

[0026] Working principle: Variable diameter fixing mechanism: The robot body is composed of a cylinder 1, and the two ends of the cylinder 1 are movably sleeved with a front frame 3 and a rear frame 8, and the outside of the front frame 3 and the rear frame 8 are fixedly sleeved with a front plate 18 and a rear plate 19 respectively; When the robot enters pipes of different diameters, the front fixing cylinder 22 and the rear fixing cylinder 23 extend out and abut against the inner wall of the pipe, thereby achieving stable fixation of the robot in the pipe; By adjusting the extension length of the front fixed cylinder 22 and the rear fixed cylinder 23, pipes with different diameters can be adapted; Cleaning mechanism: The integrated drive assembly 7 is located on one side of the cylinder 1, including a drive box 701, a main shaft 702, a drive gear 703, a pneumatic motor 704, etc.; The output end of the pneumatic motor 704 is connected to the extended section of the main shaft 702 to provide power; When the pipeline needs to be cleaned, the first cylinder 709 is telescopically moved, so that the first transverse pusher 711 pushes the first transmission gear 707, and the first transmission gear 707 moves transversely along the first transmission shaft 705, so that the first transmission gear 707 moves to mesh with the driving gear 703, so that the rotation of the main shaft 702 is transmitted through the driving gear 703 and the first transmission gear 707, so that the first transmission shaft 705 rotates, and then the first transmission shaft 705 drives the driving spur gear 706 to mesh with the inner gear ring 5 of the annular cutter disc 4; The pneumatic motor 704 is started, and drives the driving spur gear 706 to rotate through the main shaft 702, the driving gear 703 and the first transmission shaft 705. The rotation of the driving spur gear 706 drives the inner gear ring 5 and the annular cutter disc 4 to rotate, thereby cleaning the inner wall of the pipeline. The annular cutter disc 4 can not only clean the sediment, but also cut obstacles when necessary; Moving mechanism: When the robot needs to be moved, the second cylinder 716 is extended and retracted, so that the second transverse pusher 718 pushes the second transmission gear 714, and the second transmission gear 714 moves transversely along the second transmission shaft 712, so that the second transmission gear 714 moves to mesh with the driving gear 703. In this way, the rotation of the main shaft 702 is transmitted through the driving gear 703 and the second transmission gear 714, so that the second transmission shaft 712 rotates, and then the second transmission shaft 712 drives the driving bevel gear 713 to mesh with the transmission bevel gear 28; The pneumatic motor 704 is started, and drives the driving bevel gear 713 to rotate through the main shaft 702, the driving gear 703 and the second transmission shaft 712; The rotation of the driving bevel gear 713 drives the transmission bevel gear 28 and the roller 27 to rotate, so that the robot moves along the inner wall of the pipeline; Steering mechanism: When the robot needs to turn, the front push cylinder 20 and the rear push cylinder 21 are connected to the front plate 18, the rear plate 19 and the middle plate 2 through the first rotating member 24 and the second rotating member 25 respectively to achieve rotational connection. The front push cylinder 20 and the rear push cylinder 21 work together to push the front frame 3 and the rear frame 8 to generate an angular deviation outside the cylinder 1. By adjusting the extension length and angle of the front push cylinder 20 and the rear push cylinder 21, the robot can be flexibly turned in the pipeline. Detection mechanism: The camera 14 is installed at one end of the mounting rod 13. Through the connecting rod mechanism composed of the upper connecting shaft 10, the connecting rod 11, the lower connecting shaft 12 and the mounting rod 13, and the telescopic cylinder 16, the camera 14 is extended out of the robot to observe the external situation. When the pipeline is unblocked, in order to prevent sewage from contaminating and covering the camera 14, the connecting rod mechanism retracts the camera 14; Through the above description, the variable-diameter, steerable pipeline inspection and cleaning robot can achieve stable fixation in pipelines of different diameters, cleaning of the inner wall of the pipeline, flexible movement and steering in the pipeline, and inspection inside the pipeline. The robot has the advantages of strong adaptability, high flexibility, and multi-functional integration, bringing effective progress to the pipeline maintenance industry.

Claims

1. A pipe inspection and cleaning robot with variable diameter and steerable configuration, comprising a cylinder (1), characterized in that: The cylinder (1) has a middle plate (2) fixedly sleeved at the center of the outside; one end of the cylinder (1) is movably sleeved with a front frame (3); one end of the front frame (3) is rotatably connected to an annular cutter disc (4); one end of the annular cutter disc (4) is connected to an inner gear ring (5); the other end of the cylinder (1) is movably sleeved with a rear frame (8); one end of the rear frame (8) is connected to an end plate (9); The upper wall inside the cylinder (1) is rotatably connected to two upper connecting shafts (10), both ends of the two upper connecting shafts (10) are rotatably connected to connecting rods (11), the lower parts of the connecting rods (11) are rotatably connected to a lower connecting shaft (12), a mounting rod (13) is connected between the two lower connecting shafts (12), one end of the mounting rod (13) is mounted with a camera (14), the upper wall of the cylinder (1) is rotatably connected to an upper rotating rod (15), the middle part of the lower end of the upper rotating rod (15) is connected to a telescopic cylinder (16), one end of the telescopic cylinder (16) is connected to a lower rotating rod (17), the lower rotating rod (17) is rotatably mounted between one group of connecting rods (11), and the camera (14) is driven to extend out of the cylinder (1) or retract through the telescopic cylinder (16).

2. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 1, characterized in that: The front frame (3) is externally fixedly sleeved with a front plate (18), the rear frame (8) is externally fixedly sleeved with a rear plate (19), the front plate (18) and the upper and lower parts of the middle plate (2) are both rotatably connected with a front push cylinder (20), the rear plate (19) and the upper and lower parts of the middle plate (2) are both rotatably provided with a rear push cylinder (21), both sides of the front plate (18) are installed with front fixed cylinders (22), and both sides of the rear plate (19) are installed with rear fixed cylinders (23).

3. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 2, characterized in that: Both ends of the forward thrust cylinder (20) are rotationally connected to the front plate (18) and the middle plate (2) via a first rotating member (24), and both ends of the backward thrust cylinder (21) are rotationally connected to the rear plate (19) and the middle plate (2) via a second rotating member (25).

4. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 3, characterized in that: The first rotating member (24) and the second rotating member (25) both comprise a first U-shaped seat (2401), and the first U-shaped seat (2401) is externally rotatably connected to a second U-shaped seat (2402).

5. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 1, characterized in that: A transverse shaft (26) is rotatably mounted on the lower parts of the middle plate (2), the front plate (18) and the rear plate (19), and rollers (27) are connected to both ends of the transverse shaft (26).

6. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 1, characterized in that: A transmission bevel gear (28) is fixedly sleeved on the outside of the transverse shaft (26) located at the lower part of the rear plate (19); a T-shaped slot (6) is provided on one side of the interior of the cylinder (1); the transmission bevel gear (28) is located in a longitudinal slot of the T-shaped slot (6); an integrated drive assembly (7) is provided on one side of the interior of the cylinder (1); the integrated drive assembly (7) is used in conjunction with the inner gear ring (5) and the transmission bevel gear (28).

7. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 6, characterized in that: The integrated drive assembly (7) comprises a drive box (701), the center of the drive box (701) being rotatably connected to a main rotating shaft (702), the outside of the main rotating shaft (702) being fixedly sleeved with two drive gears (703), and an air motor (704) being provided on one side of the outside of the drive box (701), the output end of the air motor (704) being connected to an extension of the main rotating shaft (702).

8. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 7, characterized in that: The first transmission shaft (705) is rotatably connected to one side of the interior of the drive box (701); one end of the first transmission shaft (705) extends to the outside of the drive box (701) and is connected to a driving spur gear (706); the driving spur gear (706) is movably meshed with the inner gear ring (5); two first transmission gears (707) are sleeved on the outer wall of the first transmission shaft (705) via a key pin; the two first transmission gears (707) are capable of axial movement along the outer wall of the first transmission shaft (705); the outer wall of the drive box (701) is connected to a first protective shell (708); a first cylinder (709) is installed inside the first protective shell (708); an output end of the first cylinder (709) is connected to a first fixing rod (710); one end of the first fixing rod (710) extends through the drive box (701) and is connected to a first transverse push member (711); the first transverse push member (711) is movably sleeved on the outside of the first transmission shaft (705).

9. The variable-diameter, steerable pipeline inspection and cleaning robot according to claim 7, characterized in that: A second transmission shaft (712) is rotatably connected to one side of the interior of the drive box (701); one end of the second transmission shaft (712) extends to the outside of the drive box (701) and is connected to a driving bevel gear (713); the driving bevel gear (713) is movably meshed with the transmission bevel gear (28); the driving bevel gear (713) is located in the transverse groove of the T-shaped groove (6); the outer wall of the second transmission shaft (712) is sleeved with two second transmission gears (714) via key pins; the two second transmission gears (714) are ) is capable of axially moving along the outer wall of the second transmission shaft (712); the outer wall of the drive box (701) is connected to a second protective shell (715); a second cylinder (716) is installed inside the second protective shell (715); an output end of the second cylinder (716) is connected to a second fixing rod (717); one end of the second fixing rod (717) extends through the drive box (701) and is connected to a second transverse push member (718); the second transverse push member (718) is movably sleeved on the outside of the second transmission shaft (712).

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