Lumbar vertebra traction mechanism of pipeline robot

Abstract

The lumbar vertebra traction mechanism of the pipeline robot comprises a left shell and a right shell capable of rotating relative to the left shell, the left shell and the right shell are matched in an inserted mode to form a closed space, and the inserted parts of the left shell and the right shell are in spherical fit, so that the left shell and the right shell can rotate relative to each other; the first sealing ring is used for preventing fluid from entering the closed space and located at the inserting position of the left shell body and the right shell body, the traction rod is used for limiting separation of the left shell body and the right shell body, the two ends of the traction rod are matched with the corresponding shell bodies to form universal joint structures respectively, turning is achieved through matching of two spherical surfaces, and the first sealing ring is located at the inserting position of the left shell body and the right shell body. And a sealing structure is arranged between the two spherical surfaces, so that fluid is prevented from entering the lumbar traction mechanism, and the stability of the lumbar traction mechanism is better.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline robots, and in particular to a lumbar traction mechanism of a pipeline robot. Background Art

[0002] With the development of the oil and gas industry, oil and gas pipelines have gradually become one of the important modes of transportation.

[0003] Due to material defects in the pipeline itself or corrosion, heavy pressure, external force impact and other reasons caused by long-term service, the inner wall of the pipeline will have varying degrees of scaling, resulting in reduced pipeline efficiency, and inevitable aging, cracks, leaks and other phenomena that pose safety hazards.

[0004] The medium transported by oil and gas pipelines is flammable and explosive. Once the oil and gas pipeline fails, it is very easy to cause major safety accidents, resulting in huge losses and serious consequences for the local ecological environment. Therefore, regular inspection and maintenance of pipeline conditions are very necessary. However, the environment in which the pipeline is located is often narrow and difficult for workers to access or cannot be directly contacted. In the past, excavation and sampling detection methods were mostly used. This manual excavation method has the disadvantages of large engineering workload, strong randomness and low efficiency.

[0005] The pipeline robot is an integrated system of machinery, electricity and instrumentation that can automatically walk along the inside or outside of the pipeline, and can carry one or more sensors and operating devices, such as ultrasonic sensors, eddy current sensors, pipeline cleaning devices, etc., and can perform a series of pipeline inspection and maintenance operations under the remote control of the operator. The technology of replacing manual inspection with pipeline robots has greatly improved the precision and accuracy of inspection, which is of great significance to improving working conditions, reducing operating costs and improving work efficiency.

[0006] At present, pipeline robots can be divided into seven categories according to their mechanical structures, including fluid-driven, wheeled, tracked, supported, walking, and screw-driven. The stability of the robot's running speed and its ability to turn are directly related to the effect of the operation. However, when running in a fluid medium, the lumbar traction part will be relatively bent, which makes it easy for the fluid medium to enter the lumbar traction mechanism, resulting in poor stability and the inability to identify the direction of rotation. Summary of the invention

[0007] Purpose of the invention: In order to overcome the defects of the prior art, the present invention provides a lumbar traction mechanism for a pipeline robot, which realizes turning by cooperating between two spherical surfaces, and sets a sealing structure between the two spherical surfaces to prevent fluid from entering the interior of the lumbar traction mechanism, thereby improving its stability.

[0008] The present invention discloses a lumbar traction mechanism for a pipeline robot, which is characterized by comprising a left shell and a right shell that can rotate relative to the left shell, the left shell and the right shell are plugged together to form a closed space, the plugged part of the left shell and the right shell is spherically matched so that the left shell and the right shell can rotate relatively, and also comprises a first sealing ring for blocking fluid from entering the closed space, the first sealing ring is located at the plug-in position of the left shell and the right shell, and also comprises a traction rod for limiting the separation of the left shell and the right shell, and the two ends of the traction rod are respectively matched with the corresponding shells to form a universal joint structure.

[0009] By adopting the above technical solution, when the pipeline robot is walking, the left shell and the right shell can rotate relative to each other through the spherical fit, so as to adapt to the turning of the pipeline. The traction rod can prevent the left shell and the right shell from separating when they are reset. When the left shell and the right shell rotate, the traction rod will not hinder the rotation of the two through the universal joint structure, and its stability is better. The joint between the left shell and the right shell is sealed by the first sealing ring to further prevent the fluid medium from entering the confined space.

[0010] The present invention is further configured as follows: the left shell body is provided with a first spherical groove, the traction rod is provided with a first spherical surface matching with the first spherical groove, the right shell body is provided with a second spherical groove, the traction rod is provided with a second spherical surface matching with the second spherical groove, the first spherical surface rotates in the first spherical groove, and the second spherical surface rotates in the second spherical groove to form a universal joint structure.

[0011] By adopting the above technical solution, a universal joint structure can be formed by cooperating the spherical surface on the corresponding rod body with the spherical groove, and the structure is simple and relatively stable.

[0012] A further configuration of the present invention is that the traction rod includes a left rod body and a right rod body that are separately arranged, the left rod body portion extends into the enclosed space, the right rod body portion extends into the enclosed space, and also includes a connecting piece for connecting the left rod body and the right rod body in the enclosed space.

[0013] By adopting the above technical solution, the left rod body and the right rod body are arranged in a split manner, which makes it more convenient to assemble. One end of the two rod bodies can pass through the corresponding shell into the enclosed space, and then they are connected by the connecting piece to prevent the two rod bodies from being separated. The present invention is further configured as follows: a sealing ring installation groove for assembling a first sealing ring is provided at a position of the right shell corresponding to the left shell, at least two sealing ring installation grooves are provided at intervals along the axial direction, and each sealing ring installation groove is provided with a first sealing ring.

[0014] By adopting the above technical solution, since the turning angles inside the pipeline are different, the rotation amplitudes of the left and right shells are different. By setting multiple sealing rings, the sealing effect can be further improved. By setting a sealing ring installation groove, the sealing ring can be easily installed and the stability is better.

[0015] The present invention is further configured as follows: one side of the first spherical groove is open for the left rod body to be installed therein, a second sealing ring is provided between the first spherical groove and the first spherical surface, one side of the second spherical groove is open for the right rod body to be installed therein, and a third sealing ring is provided between the second spherical groove and the second spherical surface.

[0016] By adopting the above technical solution, the corresponding spherical groove is opened on one side to facilitate the assembly of the corresponding rod body, and is sealed by the sealing ring to further prevent the fluid from entering the closed space. The present invention is further configured as follows: a scraper is disposed on the first sealing ring located on the inner side, and the scraper is disposed obliquely outward and abuts against the left housing.

[0017] The above technical solution can further prevent fluid from entering the confined space.

[0018] A further configuration of the present invention is that the connecting member is an elastic clamp, and both the left rod body and the right rod body are provided with abutment platforms, and the elastic clamp is arranged along the circumferential direction of the abutment platforms.

[0019] By adopting the above technical solution, an elastic clamp is used for connection, and no auxiliary tools are needed during disassembly and assembly, so the disassembly and assembly is convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the structure of the present invention after the left housing is removed; Figure 3 for Figure 1 Sectional view; Figure 4 for Figure 3 Enlarged view of part a; Figure 5 for Figure 3 Part b enlarged view; Figure 6 for Figure 3 Enlarged view of local c; Figure 7 for Figure 3 Local enlarged image.

[0021] Left shell 1, right shell 2, sealing ring installation groove 21, enclosed space 3, first sealing ring 5, scraper 51, traction rod 6, left rod body 61, first spherical surface 611, right rod body 62, second spherical surface 621, first spherical groove 8, second spherical groove 9, connecting piece 10, second sealing ring 70, third sealing ring 80. DETAILED DESCRIPTION

[0022] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings: In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "bottom", "top", "front", "back", "inside", "outside", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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 a limitation on the present invention.

[0023] The present invention discloses a lumbar traction mechanism of a pipeline robot. In an implementation case of the present invention, the mechanism comprises a left shell 1 and a right shell 2 which can rotate relative to the left shell 1. The left shell 1 and the right shell 2 are plugged together to form a closed space 3. The plugged-in portion of the left shell 1 and the right shell 2 is a spherical fit (the spherical fit can be achieved by the socket fit of an inner ball sleeve and an outer ball sleeve), so that the left shell 1 and the right shell 2 can rotate relative to each other. The mechanism also comprises a first sealing ring 5 for blocking fluid from entering the closed space 3. The first sealing ring 5 is located at the plug-in portion of the left shell 1 and the right shell 2. The mechanism also comprises a traction rod 6 for limiting the separation of the left shell and the right shell. The two ends of the traction rod 6 respectively cooperate with the corresponding shells to form a universal joint structure.

[0024] The above technical solution is used to assemble it on a pipeline robot. When the pipeline robot moves, the left shell 1 and the right shell 2 can rotate relative to each other through spherical cooperation, so as to adapt to the turning of the pipeline. The traction rod 6 can prevent the left shell 1 and the right shell 2 from separating when they are reset. When the left shell 1 and the right shell 2 rotate, the traction rod 6 will not hinder the rotation of the two through the universal joint structure, and its stability is better. The first sealing ring 5 is used to seal the joint between the left shell 1 and the right shell 2 to further prevent the fluid medium from entering the confined space 3.

[0025] The traction rod 6 includes a left rod body 61 and a right rod body 62 which are arranged in a split manner. The left shell body 1 is provided with a first spherical groove 8. The left rod body 61 is partially arranged in the first spherical groove 8 and partially extends into the confined space 3. The left rod body 61 located in the first spherical groove 8 is provided with a first spherical surface 611 which cooperates with the first spherical groove 8. The right shell body 2 is provided with a second spherical groove 9. The right rod body 62 is partially arranged in the second spherical groove 9 and partially extends into the confined space 3. The right rod body 62 located on the second spherical groove 9 is provided with a second spherical surface 621 which cooperates with the second spherical groove 9. It also includes a connecting member 10 for connecting the left rod body and the right rod body in the confined space 3 (the connecting member 10 is most preferably an elastic clamp to tighten the two, and of course it can also be connected by bolts, pins, etc.), the first spherical surface 611 rotates in the first spherical groove 8, and the second spherical surface 621 rotates in the second spherical groove 9 to form a universal joint. The structure adopts a split left rod body 61 and a right rod body 62 to make it more convenient to assemble. One end of the two rod bodies can pass through the corresponding shell body and enter the confined space 3, and then they are connected by the connecting piece 10 to prevent the two from separating. The spherical surface on the corresponding rod body cooperates with the spherical groove to form a universal joint structure. Of course, the left shell body 1 and the right shell body 2 can also be provided with an assembly rack. The left rod body 61 and the right rod body 62 can be assembled to the corresponding assembly rack first, and then form a whole. Then, the assembly rack is assembled to the corresponding shell body, which is convenient for installation. Of course, the traction rod 6 can also be a left rod body 61 extending through the left shell body 1 to the right shell body 2, and then the right rod body 62 is connected to the left rod body 61 with a ball head or a hemisphere, or the right rod body 62 extends through the right shell body 2 to the left shell body 1, and the left rod body 61 is connected to the right rod body 62 with a ball head or a hemisphere.

[0026] The right shell 2 is provided with a sealing ring installation groove 21 for assembling the first sealing ring 5 at a position corresponding to the left shell 1. At least two sealing ring installation grooves 21 are provided along the axial direction at intervals. The first sealing ring 5 is provided on each sealing ring installation groove 21. Because the turning angles inside the pipeline are different, the rotation amplitudes of the left and right shells are different. By providing multiple sealing rings, the sealing effect can be further improved. By providing the sealing ring installation grooves 21, the sealing ring installation can be facilitated and the stability is better.

[0027] One side of the first spherical groove 8 is open for the left rod body 61 to be installed, a second sealing ring 70 is provided between the first spherical groove 8 and the first spherical surface 611, one side of the second spherical groove 9 is open for the right rod body 62 to be installed, and a third sealing ring 80 is provided between the second spherical groove 9 and the second spherical surface 621. One side of the corresponding spherical groove is open to facilitate the assembly of the corresponding rod body, and sealing by the sealing ring can further prevent the fluid from entering the enclosed space 3.

[0028] A scraper 51 is arranged on the first sealing ring 5 located on the inner side. The scraper 51 is arranged obliquely outward and abuts against the left shell body 1, which can further prevent the fluid from entering the enclosed space. The left shell body 1 is preferably formed of two half shells through an elastic clamp to facilitate assembly.

[0029] The connecting member 10 is an elastic clamp, and both the left rod body 61 and the right rod body 62 are provided with abutment platforms 20. The elastic clamp is arranged along the circumferential direction of the abutment platforms 20. The elastic clamp is used for connection, and no auxiliary tools are required during disassembly and assembly, which is convenient.

Claims

1. A lumbar traction mechanism for a pipeline robot, characterized in that: The invention comprises a left shell (1) and a right shell (2) which can rotate relative to the left shell (1); the left shell (1) and the right shell (2) are plugged together to form a closed space (3); the plugged part of the left shell (1) and the right shell (2) is spherically matched so that the left shell (1) and the right shell (2) can rotate relative to each other; the invention also comprises a first sealing ring (5) for preventing fluid from entering the closed space (3); the first sealing ring (5) is located at the plugged part of the left shell (1) and the right shell (2); the invention also comprises a traction rod (6) for limiting the separation of the left shell (1) and the right shell (2); the two ends of the traction rod (6) respectively cooperate with the corresponding shells to form a universal joint structure.

2. The lumbar traction mechanism of a pipeline robot according to claim 1, characterized in that: The left housing (1) is provided with a first spherical groove (8), the traction rod (6) is provided with a first spherical surface (611) that cooperates with the first spherical groove (8), the right housing (2) is provided with a second spherical groove (9), the traction rod (6) is provided with a second spherical surface (621) that cooperates with the second spherical groove (9), the first spherical surface (611) rotates in the first spherical groove (8), and the second spherical surface (621) rotates in the second spherical groove (9) to form a universal joint structure.

3. The lumbar traction mechanism of a pipeline robot according to claim 2, characterized in that: The traction rod (6) comprises a left rod body (61) and a right rod body (62) which are arranged in a split manner, wherein the left rod body (61) partially extends into the enclosed space (3), and the right rod body (62) partially extends into the enclosed space (3), and further comprises a connecting piece (10) for connecting the left rod body (61) and the right rod body (62) in the enclosed space (3).

4. A lumbar traction mechanism for a pipeline robot according to claim 1, 2 or 3, characterized in that: The right housing (2) is provided with a sealing ring installation groove for assembling a first sealing ring (5) at a position corresponding to the left housing (1), and at least two sealing ring installation grooves are provided at intervals along the axial direction, and each sealing ring installation groove is provided with a first sealing ring (5).

5. The lumbar traction mechanism of a pipeline robot according to claim 2 or 3, characterized in that: One side of the first spherical groove (8) is open for the left rod body (61) to be installed therein, and a second sealing ring (70) is provided between the first spherical groove (8) and the first spherical surface (611). One side of the second spherical groove (9) is open for the right rod body (62) to be installed therein, and a third sealing ring (80) is provided between the second spherical groove (9) and the second spherical surface (621).

6. The lumbar traction mechanism of a pipeline robot according to claim 4, characterized in that: A scraper (51) is arranged on the first sealing ring (5) located on the inner side. The scraper (51) is arranged to be inclined outward and abut against the left housing (1).

7. The lumbar traction mechanism of a pipeline robot according to claim 3, characterized in that: The connecting member (10) is an elastic clamp, and both the left rod body (61) and the right rod body (62) are provided with abutment platforms, and the elastic clamp is arranged along the circumferential direction of the abutment platforms.

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