Pipeline measuring robot and using method

Abstract

The invention discloses a pipeline measuring robot and a using method, the robot comprises a walking mechanism, a detecting mechanism (1) and a control mechanism (2), the walking mechanism comprises a frame, at least three walking units distributed in the circumferential direction are arranged on the outer side of the frame, and a front hub motor (5) and a rear hub motor (5) connected with the control mechanism (2) are arranged at the outer side end of each walking unit; an angle adjusting mechanism is arranged between the frame and the walking unit; the frame comprises a front first support plate (3) and a rear first support plate (3), a plurality of first connecting rods (4) are arranged between the two first support plates (3), the walking unit comprises a front telescopic rod and a rear telescopic rod, the two telescopic rods are hinged to the outer sides of the two first support plates (3) respectively, and hub motors (5) connected with the control mechanism (2) are arranged at the outer side ends of the two telescopic rods respectively. The robot has the advantage of being good in gradeability.

Description

Technical Field

[0001] The present invention belongs to the field of pipeline measurement, and particularly relates to a pipeline measurement robot and a usage method thereof. Background Art

[0002] There are a large number of pipelines in the infrastructure field. These pipelines run through mountains and valleys and have a long span. For example, municipal water transmission pipelines connect water source areas and water treatment plants in the areas along the way. During the long-term use of pipelines, various problems may occur, such as blockage, cracking, deformation, etc. At this time, a pipeline measurement robot is needed to find out the specific location where the problem occurs so that workers can handle it accurately.

[0003] Existing pipeline measurement robots (referred to as robots for short), such as the GD800-Q6 type pipeline measurement robot, include a traveling mechanism, a detection mechanism, and a control mechanism. The traveling mechanism provides power for the robot to move inside the pipeline. The detection mechanism is responsible for measuring some conditions of the pipeline and is selected accordingly according to the detection needs, such as cameras, 3D laser scanners, etc. The control mechanism is connected to the traveling mechanism and controls the state of the traveling mechanism through the control mechanism, such as acceleration, deceleration, forward movement, and backward movement. The control mechanism is connected to a control terminal outside the pipeline (such as a laptop computer), and a signal is sent to the control mechanism through the control terminal, and the control mechanism then makes the traveling mechanism act accordingly according to the signal.

[0004] In the existing robots, the traveling mechanism includes a vehicle frame. Four electrically driven wheels are provided at the bottom of the vehicle frame. The robot walks along the pipeline by relying on the rotation of the wheels. However, the pipeline is set according to the terrain undulation and may have a large slope, exceeding the climbing ability range of the robot. The robot cannot enter the large-slope pipeline section. Even if it is forced to enter, it will slide down, resulting in incomplete pipeline detection. Through on-site testing, when the inside of the pipeline is wet and slippery, the maximum climbing angle of the existing robot is only about 15°.

[0005] Therefore, the existing robot has the defect of weak climbing ability. Summary of the Invention

[0006] The purpose of the present invention is to provide a pipeline measurement robot and a usage method thereof. The present invention has the advantage of good climbing ability.

[0007] The technical solution of the present invention: A pipeline measurement robot includes a traveling mechanism, a detection mechanism, and a control mechanism. The traveling mechanism includes a vehicle frame. At least three circumferentially distributed traveling units are provided on the outer side of the vehicle frame. Front and rear hub motors both connected to the control mechanism are provided at the outer ends of the traveling units. An angle adjustment mechanism is provided between the vehicle frame and the traveling units.

[0008] In the aforementioned pipeline measurement robot, the vehicle frame includes two first support plates at the front and rear. A plurality of first connecting rods are provided between the two first support plates. The walking unit includes two telescopic rods at the front and rear. The two telescopic rods are respectively hinged to the outer sides of the two first support plates. Hub motors for connecting control mechanisms are provided at the outer ends of the two telescopic rods.

[0009] In the aforementioned pipeline measurement robot, the telescopic rod includes an L-shaped outer tube. One end of the outer tube is hinged to the first support plate. The other end of the outer tube is provided with an inner rod for connecting the hub motor. A bolt for pressing the inner rod is provided on the outer tube. At least two second connecting rods are provided between the two telescopic rods in the walking unit. The second connecting rods are hinged to the telescopic rods.

[0010] In the aforementioned pipeline measurement robot, the angle adjustment mechanism includes a screw rod. The first support plate is rotatably connected to the screw rod. A second support plate is provided at the rear end of the screw rod. The rear end of the first connecting rod extends backward and is fixed to the second support plate;

[0011] A nut for connecting the screw rod is provided at the rear side of the first support plate. The nut is connected to a fourth connecting rod through a third connecting rod. The fourth connecting rod is fixed to the corresponding outer tube. One end of the third connecting rod is hinged to the nut, and the other end of the third connecting rod is hinged to the fourth connecting rod.

[0012] In the aforementioned pipeline measurement robot, the rear end of the screw rod passes through the second support plate and is provided with a handle. A coil spring assembly for connecting the corresponding first support plate is provided at the front end of the screw rod.

[0013] In the aforementioned pipeline measurement robot, both the first support plate and the second support plate are regular hexagons. There are three first connecting rods. The three first connecting rods are respectively connected to three corners of the first support plate. The three first connecting rods are respectively connected to three corners of the second support plate; The screw rod passes through the middle parts of the first support plate and the second support plate.

[0014] In the aforementioned pipeline measurement robot, a mounting plate is provided on the first support plate at the front side. The detection mechanism and the control mechanism are both fixed to the mounting plate.

[0015] In the aforementioned pipeline measurement robot, the nut includes a sleeve through which the screw rod passes. The third connecting rod is hinged to the sleeve. A slip ring is provided on the outer side of the sleeve. A bent spring is provided between the sleeve and the slip ring. The front end of the spring is fixed to the sleeve. A plurality of fifth connecting rods distributed circumferentially are provided at the rear side of the sleeve. Teeth for cooperating with the screw rod are provided on the inner side of the rear ends of the fifth connecting rods. The front end of the spring extends to the outer side of the second connecting rod.

[0016] In the usage method of the aforementioned pipeline measurement robot, the inclination angle of the walking unit is changed through the angle adjustment mechanism, so that all hub motors are in contact with the inner wall of the pipeline, and there is a contact pressure between the hub motors and the pipeline, increasing the friction force between the robot and the pipeline and increasing the maximum climbing angle of the robot.

[0017] Compared with the prior art, based on the existing robot, the present invention improves the walking mechanism. The improved walking mechanism has a plurality of hub motors circumferentially distributed. By means of an angle adjustment mechanism, the diameter of the cylindrical surface where the plurality of hub motors are located is changed, that is, the radial dimension of the robot is changed, so that the robot can move forward and be used in pipes with different inner hole diameters, with a wide range of applications. At the same time, the hub motors can also generate a greater pressure on the pipe, the friction between the hub motors and the pipe increases, and the climbing ability of the robot is improved. Therefore, the present invention has the advantage of good climbing ability.

[0018] In addition, through the structural optimization of the walking unit, the hub motors are connected by telescopic rods, so that the robot can be used in pipes with a larger range of inner hole diameters, further improving the application range of the robot. By arranging a connecting rod between the front and rear telescopic rods, the structural stability of the walking unit is improved, and the failure rate of the robot is reduced. By arranging a coil spring mechanism at one end of the screw rod, the telescopic rod has a certain rotational elasticity, ensuring that the hub motor can move radially when passing through uneven places in the pipe, so that the robot has a certain obstacle-crossing ability. Through the structural optimization of the nut, when adjusting the inclination angle of the walking unit, the slip ring can be moved forward first to release the screwing connection between the nut and the screw rod, so that the nut can move axially, greatly reducing the number of rotations of the handle. After the nut moves to a certain position, the slip ring is moved backward to restore the screwing connection between the nut and the screw rod, and then the handle is used to drive the nut to adjust the inclination angle of the walking unit, which is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a perspective view of the present invention from the rear view.

[0020] Figure 2 is a perspective view of the present invention from the front view.

[0021] Figure 3 is a schematic structural diagram of the nut.

[0022] The reference signs in the drawings are: 1 - detection mechanism, 2 - control mechanism, 3 - first support plate, 4 - first connecting rod, 5 - hub motor, 6 - outer pipe, 7 - inner rod, 8 - bolt, 9 - second connecting rod, 10 - screw rod, 11 - second support plate, 12 - third connecting rod, 13 - fourth connecting rod, 14 - handle, 15 - coil spring assembly, 16 - mounting plate, 17 - sleeve, 18 - slip ring, 19 - spring, 20 - fifth connecting rod, 21 - tooth. DETAILED DESCRIPTION OF THE INVENTION

[0023] The present invention will be further described below with reference to the drawings and embodiments, but it shall not be used as a basis for limiting the present invention.

[0024] Embodiment: A pipeline measurement robot, such as Figure 1 shown, includes a traveling mechanism, a detection mechanism 1, and a control mechanism 2.

[0025] The traveling mechanism includes a vehicle frame, and the vehicle frame includes two front and rear first support plates 3. The first support plates 3 are regular hexagons. A horizontal mounting plate 16 is provided on the front first support plate 3. Both the detection mechanism 1 (such as a camera) and the control mechanism 2 are fixed to the mounting plate 16. Three first connecting rods 4 are provided between the two first support plates 3. The three first connecting rods 4 are respectively fixed to three edges of the first support plates 3, and the three first connecting rods 4 are circumferentially and evenly distributed around the axis of the first support plates 3.

[0026] Three circumferentially distributed traveling units are provided on the outside of the vehicle frame. The traveling unit includes two front and rear telescopic rods, and the two telescopic rods are respectively connected to the two first support plates 3. The telescopic rod includes an L-shaped outer tube 6. One end of the outer tube 6 extends axially backward and is hinged to the corresponding first support plate 3. The other end of the outer tube 6 extends radially outward and is provided with an inner rod 7. The inner rod 7 is slidably connected to the outer tube 6. A hub motor 5 connected to the control mechanism 2 is provided at the outer side end of the inner rod 7. A rubber wheel is fixed to the outside of the hub motor 5. A bolt 8 for pressing against the inner rod 7 is provided on the outer tube 6. After the bolt 8 is tightened, the total length of the telescopic rod is fixed. Second connecting rods 9 are provided between the outer side ends of the two outer tubes 6 and between the outer side ends of the two inner rods 7. The end of the second connecting rod 9 is hinged to the outer tube 6 or the inner rod 7 on the corresponding side. The second connecting rod 9 is used to improve the stability of the traveling unit.

[0027] An angle adjustment mechanism is provided between the vehicle frame and the traveling unit. The angle adjustment mechanism includes a screw rod 10 passing through the middle parts of the two first support plates 3. Lubricating oil is applied to the screw rod 10. Both the two first support plates 3 are rotatably connected to the screw rod 10. A regular hexagon second support plate 11 is provided at the rear end of the screw rod 10. The rear ends of the three first connecting rods 4 all extend backward and are respectively fixed to three edges of the second support plate 11. The rear end of the screw rod 10 passes through the middle part of the second support plate 11 and is provided with a handle 14. A spring winding assembly 15 connecting to the corresponding first support plate 3 is provided at the front end of the screw rod 10. The spring winding assembly 15 is an existing component, including a box body fixed to the first support plate 3. A spring is provided in the box body. The outer side end of the spring is fixed to the box body, and the inner side end of the spring is fixed to the screw rod 10.

[0028] On the rear side of the first support plate 3, there is a nut connecting the screw rod 10. The nut includes a sleeve 17 through which the screw rod 10 passes. The sleeve 17 is connected to the fourth connecting rod 13 through the third connecting rod 12. The fourth connecting rod 13 is fixed to the corresponding outer tube 6. One end of the third connecting rod 12 is hinged to the sleeve 17, and the other end of the third connecting rod 12 is hinged to the fourth connecting rod 13. On the outer side of the sleeve 17, there is a slip ring 18. Between the sleeve 17 and the slip ring 18, there is a spring 19 bent into an arc shape. The front end of the spring 19 is fixed to the sleeve 17. On the rear side of the sleeve 17, there are three circumferentially distributed fifth connecting rods 20. On the inner side of the rear end of the fifth connecting rod 20, there are teeth 21 that cooperate with the thread grooves of the screw rod 10. The front end of the spring 19 extends to the outer side of the second connecting rod 9. On the outer side wall of the second connecting rod 9 and the outer side wall of the sleeve 17, there are notch openings for accommodating the spring 19. The notch openings are used to hide the spring 19 so that the slip ring 18 can axially move from the sleeve 17 to the second connecting rod 9. The sleeve 17 is connected to the fourth connecting rod 13 through the third connecting rod 12. The fourth connecting rod 13 is fixed to the corresponding outer tube 6. One end of the third connecting rod 12 is hinged to the nut, and the other end of the third connecting rod 12 is hinged to the fourth connecting rod 13.

[0029] The helix angle of the screw rod 10 is greater than its friction angle, so that when an external force is axially applied to the nut, the screw rod 10 can rotate freely. At the same time, the helix angle should not be too large to ensure that the rotation of the screw rod 10 can drive the nut to axially move. It can be known from a simple experiment and can also be calculated.

[0030] Usage method: In the initial situation, due to the bending of the spring 19, the fifth connecting rods 20 open outwards, causing the teeth 21 to separate from the screw rod 10. At this time, the sleeve 17 can axially move freely on the screw rod 10. According to the inner hole diameter of the pipeline to be entered, the sleeve 17 is moved backwards accordingly to change the inclination angle of the telescopic rod, so that the cylindrical surface where the six hub motors are located is larger than the inner hole diameter of the pipeline. Then, the slip ring 18 is slid backwards, and the fifth connecting rods 20 rotate inwards, causing the teeth 21 to enter the thread grooves of the screw rod 10, and the nut is screwed to the screw rod 10. At this time, the robot still cannot be put into the pipeline.

[0031] Rotate the handle 14 forward, the handle 14 drives the screw rod 10 to rotate forward, the screw rod 10 drives the nut to move backward, and the telescopic rod rotates inwards. After the cylindrical surface where the six hub motors are located is slightly smaller than the inner hole diameter of the pipeline, the robot is put into the pipeline. During the rotation of the screw rod 10, torque energy is accumulated in the coil spring assembly 15. After releasing the handle, the coil spring assembly 15 gives the screw rod 10 a reverse rotation torque, so that the nut has a driving force to move forward, promoting the telescopic rod to rotate outwards, enabling the hub motors 5 to roll-connect to the inner wall of the pipeline with appropriate pressure and smoothly pass through the uneven places on the inner wall of the pipeline.

[0032] Loosen the bolt 8. By changing the axial position of the inner rod 7 in the outer tube 6 to change the length of the telescopic rod, the range of the inner hole diameter of the pipeline that the robot can adapt to can be further expanded, making the application range of the robot wide.

[0033] The usage methods of the remaining parts not described are the same as those of existing robots. For example, the hub motor 5 is started or closed by the control mechanism 2 to drive the robot to move forward or backward in the pipeline. During the forward movement of the robot, the detection mechanism 1 collects pipeline information.

Claims

1. Pipeline measurement robot, comprising a walking mechanism, a detection mechanism (1) and a control mechanism (2), characterized in that: The traveling mechanism includes a vehicle frame. At least three circumferentially distributed traveling units are provided on the outer side of the vehicle frame. Two front and rear hub motors (5) both connected to the control mechanism (2) are provided at the outer ends of the traveling units. An angle adjustment mechanism is provided between the vehicle frame and the traveling units.

2. The pipeline measurement robot according to claim 1, characterized in that: The vehicle frame includes two front and rear first support plates (3). A plurality of first connecting rods (4) are provided between the two first support plates (3). The traveling unit includes two front and rear telescopic rods. The two telescopic rods are respectively hinged to the outer sides of the two first support plates (3). Two hub motors (5) connected to the control mechanism (2) are provided at the outer ends of the two telescopic rods.

3. The pipeline measurement robot according to claim 2, characterized in that: The telescopic rod includes an L-shaped outer tube (6). One end of the outer tube (6) is hinged to the first support plate (3). An inner rod (7) connected to the hub motor (5) is provided at the other end of the outer tube (6). A bolt (8) for pressing against the inner rod (7) is provided on the outer tube (6). At least two second connecting rods (9) are provided between the two telescopic rods in the traveling unit. The second connecting rods (9) are hinged to the telescopic rods.

4. The pipeline measurement robot according to claim 3, wherein: The angle adjustment mechanism includes a screw rod (10). The first support plate (3) is rotatably connected to the screw rod (10). A second support plate (11) is provided at the rear end of the screw rod (10). The rear end of the first connecting rod (4) extends backward and is fixed to the second support plate (11). A nut connecting the screw rod (10) is provided at the rear side of the first support plate (3). The nut is connected to a fourth connecting rod (13) through a third connecting rod (12). The fourth connecting rod (13) is fixed to the corresponding outer tube (6). One end of the third connecting rod (12) is hinged to the nut. The other end of the third connecting rod (12) is hinged to the fourth connecting rod (13).

5. The pipeline measurement robot according to claim 4, characterized in that: The rear end of the screw rod (10) passes through the second support plate (11) and is provided with a handle (14). A coil spring assembly (15) connecting the corresponding first support plate (3) is provided at the front end of the screw rod (10).

6. The pipeline measurement robot according to claim 2, wherein: Both the first support plate (3) and the second support plate (11) are regular hexagons. There are three first connecting rods (4). The three first connecting rods (4) are respectively connected to three edges of the first support plate (3). The three first connecting rods (4) are respectively connected to three edges of the second support plate (11). The screw rod (10) passes through the middle parts of the first support plate (3) and the second support plate (11).

7. The pipeline measurement robot according to claim 4, characterized in that: An installation plate (16) is provided on the front first support plate (3). Both the detection mechanism (1) and the control mechanism (2) are fixed to the installation plate (16).

8. The pipeline measurement robot according to claim 4, characterized in that: The nut includes a sleeve (17) penetrated by the screw rod (10). The third connecting rod (12) is hinged to the sleeve (17). A sliding ring (18) is provided on the outer side of the sleeve (17). A curved spring (19) is provided between the sleeve (17) and the sliding ring (18). The front end of the spring (19) is fixed to the sleeve (17). A plurality of circumferentially distributed fifth connecting rods (20) are provided at the rear side of the sleeve (17). Teeth (21) matching the screw rod (10) are provided on the inner sides of the rear ends of the fifth connecting rods (20). The front end of the spring (19) extends to the outer side of the second connecting rod (9).

9. The method for using the pipeline measurement robot according to any one of claims 1 to 8, characterized in that: The inclination angle of the walking unit is changed by the angle adjustment mechanism, so that all the hub motors (5) are in contact with the inner wall of the pipeline, and there is a contact pressure between the hub motors (5) and the pipeline, increasing the friction force between the robot and the pipeline and increasing the maximum climbing angle of the robot.

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