Pipeline robot

Abstract

The pipeline robot comprises a flow guide assembly, a sensor and at least two walking assemblies, the flow guide assembly comprises a flow guide pipe and an airflow generator, and the airflow generator is arranged on the flow guide pipe; the walking assembly comprises walking supports and walking wheels, the walking supports are arranged on the outer side wall of the flow guide pipe, the walking supports are distributed at intervals in the axial direction of the flow guide pipe, and the walking wheels are arranged on the walking supports; the inductor is arranged on the flow guide pipe and used for monitoring the position of the pipeline robot in the pipeline. According to the pipeline robot, the airflow generator forms airflow and generates thrust, and the airflow flows in the flow guide pipe, so that the airflow pressure is increased, the thrust to the pipeline robot is further increased, and self-driven walking of the pipeline robot in the pipeline is achieved. And the robot can walk in the pipeline instead of a traction mode outside the pipeline. The method can be widely applied to the technical field of pipeline maintenance.

Description

Technical Field

[0001] The present application relates to the technical field of pipeline maintenance, and particularly relates to a pipeline robot. Background Art

[0002] Since pipelines involve many types such as water supply, drainage, gas, electricity, communication, chemical industry, heat, and petroleum, their application requirements also vary greatly. Currently, the most invented pipeline robots are those represented by pipeline CCTV for video detection of drainage pipelines and culverts. Such robots generally consist of two parts: inside the pipe and outside the pipe. The outside device provides functions such as power supply, winching, image processing, and control. The inside part provides functions such as motion control, camera control, and some other detection functions, and the robot walks in the pipeline in an externally towed manner.

[0003] With the improvement of the degree of social automation and intelligence, all industries expect to be replaced by robots. Therefore, various forms of pipeline robots are being developed one after another. For long-distance pipelines, especially those laid by horizontal directional drilling, which have a large drop, a robot with its own power drive to perform corresponding measurement and detection on the pipeline is an urgent technical problem to be solved. Summary of the Invention

[0004] To solve at least one of the above technical problems, the present application provides a pipeline robot, and the technical solutions adopted are as follows.

[0005] The pipeline robot provided by the present application includes a diversion component, a sensor, and at least two walking components. The diversion component includes a diversion pipe and an air flow generator, and the air flow generator is arranged in the diversion pipe; the walking component includes a walking bracket and walking wheels, the walking bracket is arranged on the outer side wall of the diversion pipe, each walking bracket is distributed at intervals along the axial direction of the diversion pipe, and the walking wheels are arranged on the walking bracket; the sensor is arranged in the diversion pipe, and the sensor is used to monitor the position of the pipeline robot in the pipeline.

[0006] In some embodiments of the present application, the walking bracket includes a first bracket seat and a plurality of bracket arms. The first bracket seat is sleeved on the outer side wall of the diversion pipe, one end of the bracket arm is arranged on the first bracket seat, the bracket arms are distributed at intervals along the circumference of the diversion pipe on the first bracket seat, and the walking wheels are arranged at the other end of the bracket arm.

[0007] In some embodiments of the present application, the bracket arm is hinged to the first bracket seat, and a torsion spring is sleeved on the hinge shaft of the bracket arm and the first bracket seat.

[0008] In some embodiments of the present application, the bracket arm can elastically expand and contract to adjust its length.

[0009] In some embodiments of the present application, the pipeline robot includes a control main board, a driver, and an annular chamber. The annular chamber is sleeved on the outer side wall of the diversion pipe. The control main board and the driver are arranged in the annular chamber. The driver is used to start and stop the air flow generator.

[0010] In some embodiments of the present application, the pipeline robot includes a battery, and the battery is arranged in the annular chamber.

[0011] In some embodiments of the present application, the air flow generator includes a worm wheel blower.

[0012] In some embodiments of the present application, the pipeline robot includes a second support seat. The sensor is arranged on the second support seat, and the second support seat is sleeved on the outer side wall of the diversion pipe.

[0013] In some embodiments of the present application, sensors are arranged at both ends of the diversion pipe.

[0014] In some embodiments of the present application, the sensor is set as an ambient light intensity sensor or a reflective position sensor.

[0015] The present application has at least the following beneficial effects: The pipeline robot forms an air flow with the air flow generator and generates a thrust. The air flow flows in the diversion pipe to increase the air flow pressure and further increase the thrust on the pipeline robot, so as to realize the self-driven walking of the pipeline robot in the pipeline. Instead of realizing the walking of the robot in the pipeline by means of traction outside the pipeline. The present application can be widely applied to the technical field of pipeline maintenance.

[0016] Some additional aspects and advantages of the present application will be given in the following description, some will become obvious from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The following further demonstrates the present application in conjunction with the drawings and embodiments. It should be noted that the embodiments shown in the following drawings are exemplary and are only used to explain the present application, and should not be construed as a limitation to the present application.

[0018] Figure 1 It is a structural diagram of the pipeline robot in the pipeline.

[0019] Figure 2 It is a structural diagram of the pipeline robot.

[0020] Reference numerals: sensor 110; second support seat 120; air flow generator 210; diversion pipe 220; walking wheel 310; first support seat 321; support arm 322; annular chamber 400. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following will combine with Figures 1 to 2 Describe the embodiments of the present application in detail, where the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below by referring to the accompanying drawings are exemplary and are only used to explain the present application and should not be construed as a limitation to the present application.

[0022] In the description of the present application, it should be understood that if terms such as "center", "middle part", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present application 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, so it should not be construed as a limitation to the present application.

[0023] In the description of the present application, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and understandings such as "greater than", "less than", "exceeding", etc. do not include the present number, and understandings such as "above", "below", "within", etc. include the present number. If there is a description of "first" and "second", it is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0024] In the description of the present application, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "couple" should be understood in a broad sense. For example: it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0025] In the description of the present application, if there are descriptions of reference terms such as "an embodiment", "some embodiments", "an example", "some examples", "some embodiments", "schematic embodiments", "examples", "specific examples", "some examples", etc., it means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0026] This application relates to a pipeline robot, which can well adapt to trenchless pipeline construction, especially suitable for pipeline inertial measurement and pipeline detection, long-distance crawling, and overcomes the disadvantage in related technologies that inertial measurement requires traction crawling. This application is based on pipeline inertial measurement and pipeline detection, solves the problem of current need for external traction for walking measurement, and realizes self-driven movement in the pipeline.

[0027] Specifically, the pipeline robot includes a flow guiding component, a walking component, and a sensor 110. The walking component and the sensor 110 are both arranged on the flow guiding component. The sensor 110 is used to monitor the position of the pipeline robot in the pipeline. The end of the walking component contacts the inner wall of the pipeline. The flow guiding component provides power for the walking component in a self-driven air-pushing manner, so that the pipeline robot can walk in the pipeline.

[0028] The walking component is set to at least two, and each walking component is spaced apart on the flow guiding component, so that the pipeline robot can walk smoothly.

[0029] The flow guiding component includes an air flow generator 210. After the air flow generator 210 is started, it can form a forward-flowing air flow. The air flow generates a forward thrust on the pipeline robot, and then pushes the pipeline robot to walk forward.

[0030] Furthermore, the flow guiding component includes a flow guiding pipe 220. The sensor 110 is arranged on the flow guiding pipe 220, and the air flow generator 210 is arranged on the flow guiding pipe 220. Specifically, both ends of the flow guiding pipe 220 are penetrated to form a hollow pipe cavity channel. The air flow generator 210 is arranged in the flow guiding pipe 220, and the air flow generator 210 is fixedly connected to the side wall of the flow guiding pipe 220. Further, the air flow generator 210 is arranged at a position close to the port of the flow guiding pipe 220. The air flow generated by the air flow generator 210 enters the flow guiding pipe 220 to define the flow cavity of the air flow by the flow guiding pipe 220, and enhances the pressure of the air flow.

[0031] It can be understood that the pipeline robot further includes a measurement component or a detection component for pipeline inertial measurement or detection.

[0032] The walking component includes a walking bracket and walking wheels 310. The walking bracket is arranged on the outer side wall of the flow guiding pipe 220, and the walking wheels 310 are arranged on the walking bracket. The walking wheels 310 are in rolling contact with the inner side wall of the pipeline. It can be understood that when the walking component is set to at least two, each walking bracket is spaced apart along the axial direction of the flow guiding pipe 220.

[0033] In some embodiments, the walking bracket includes a first bracket base 321 and a bracket arm 322. The first bracket base 321 is arranged as an annular structure and sleeved on the outer sidewall of the diversion pipe 220. The first bracket base 321 is fixedly connected to the sidewall of the diversion pipe 220. One end of the bracket arm 322 is arranged on the first bracket base 321, and the walking wheel 310 is arranged at the other end of the bracket arm 322.

[0034] Further, a plurality of bracket arms 322 are provided, and the bracket arms 322 are circumferentially spaced apart along the diversion pipe 220 on the first bracket base 321. Correspondingly, a plurality of walking wheels 310 are provided, and the walking wheels 310 are circumferentially spaced apart on the outer side of the first bracket base 321 through the corresponding bracket arms 322.

[0035] It can be understood that the bracket arms 322 are evenly distributed at equal intervals along the circumference on the first bracket base 321, so that the walking wheels 310 are evenly distributed at equal intervals, improving the smoothness of the pipeline robot walking in the pipeline.

[0036] In some examples, both the bracket arm 322 and the walking wheel 310 are provided with three, and the three bracket arms 322 are distributed at intervals of 120° along the circumference.

[0037] In some examples, the bracket arm 322 is hinged to the first bracket base 321. The hinge axis of the bracket arm 322 and the first bracket base 321 is arranged perpendicular to the axial direction of the first bracket base 321. The bracket arm 322 rotates on the outer sidewall of the first bracket base 321 to adjust the distance between the walking wheel 310 at the end of the bracket arm 322 and the first bracket base 321, so that the pipeline robot adapts to pipelines with different diameters and adapts to the deformation of the sidewall in the pipeline.

[0038] Further, a torsion spring is sleeved on the hinge axis of the bracket arm 322 and the first bracket base 321. The torsion spring exerts an elastic acting force on the bracket arm 322, so that the end of the bracket arm 322 has a tendency to move away from the first bracket base 321, and further makes the walking wheel 310 keep abutting against the inner sidewall of the pipeline to adapt to pipelines with different diameters.

[0039] It should be noted that by using the elastic acting force of the bracket arms 322 evenly distributed at equal intervals along the circumference and the torsion spring, it is also possible to ensure that the diversion pipe 220 is centered in the pipeline, ensure that the central axis of the diversion pipe 220 is coaxial with the central axis of the pipeline, ensure smooth air flow without obstruction, and avoid affecting the efficiency of the air flow generator 210.

[0040] Regarding the structure of the bracket arm 322, at least the following alternative embodiments exist.

[0041] In some alternative embodiments, the support arm 322 can be elastically telescoped and its length adjusted. Specifically, the support arm 322 is arranged to extend radially along the side wall of the first support base 321, and a spring is provided inside the support arm 322 to achieve elastic telescoping.

[0042] In some other alternative embodiments, the support arm 322 is hinged to the first support base 321, and an elastic member is provided between the support arm 322 and the first support base 321. The two ends of the elastic member are respectively connected to the surfaces of the support arm 322 and the first support base 321, and the elastic member can generate elastic pressure when compressed. Specifically, the elastic member is provided as a compression spring.

[0043] In some embodiments, the pipeline robot includes a control main board for controlling the operation of the pipeline robot. The user can input instructions to the control main board using a smart terminal or a computer, thereby controlling the pipeline robot.

[0044] The control main board integrates an IMU sensor and a main control chip, and can sense the speed and attitude information of the pipeline robot in real time through the IMU sensor. This information can be used as feedback information to control the start / stop and acceleration / deceleration of the pipeline robot.

[0045] Furthermore, the pipeline robot includes a driver for starting and stopping the air flow generator 210. It can be understood that the air flow generator 210 is electrically connected to the driver, and the driver is electrically connected to the control main board. The control main board starts and stops the air flow generator 210 through the driver.

[0046] In some examples, the pipeline robot includes an annular chamber 400 sleeved on the outer side wall of the diversion pipe 220. The annular chamber 400 is fixedly connected to the side wall of the diversion pipe 220, and the control main board and the driver are arranged in the annular chamber 400.

[0047] In some examples, the pipeline robot includes a battery for supplying power to the air flow generator 210, and the battery is arranged in the annular chamber 400. Further, multiple batteries are provided. It can be understood that the pipeline robot arranges the battery, the driver, and the control main board in the annular chamber 400 on the outer side wall of the diversion pipe 220, so as to make the mass of the diversion pipe 220 more uniform and improve the walking stability of the pipeline robot.

[0048] In some embodiments, the air flow generator 210 includes a worm wheel blower, which includes a brushless motor and a wind blade. The brushless motor drives the wind blade to rotate at a high speed and generates eddy thrust. The driver provides current and voltage for the brushless motor.

[0049] Furthermore, the worm wheel blower can change the rotation direction to change the direction of the eddy thrust, and thus change the walking direction of the pipeline robot to forward or backward.

[0050] In some embodiments, the pipeline robot includes a second support base 120. The second support base 120 is arranged in a ring structure. The second support base 120 is sleeved on the outer sidewall of the diversion pipe 220, and the second support base 120 is fixedly connected to the sidewall of the diversion pipe 220. The sensor 110 is arranged on the second support base 120. When the pipeline robot walks to the pipeline opening, the sensor 110 can trigger a signal, and then the pipeline robot stops walking to prevent the pipeline robot from rushing out of the pipeline.

[0051] It can be understood that along the axial direction of the diversion pipe 220, the sensor 110 is located at a position extending beyond the end of the diversion pipe 220, so that the sensor 110 can sense the position of the pipeline opening in advance, so that the pipeline robot has a deceleration buffer distance.

[0052] It should be noted that sensors 110 are arranged at both ends of the diversion pipe 220. Correspondingly, second support bases 120 are arranged at both ends of the diversion pipe 220.

[0053] In some examples, the sensor 110 is arranged as an ambient light intensity sensor, and the sensor 110 senses the ambient light. When the sensor 110 approaches the pipeline opening, the light flux increases, and the sensor 110 feeds back the signal to the control main board, and the control main board controls the pipeline robot to decelerate through the driver.

[0054] Of course, the sensor 110 is at least alternatively designed as a reflective position sensor, and the reflective position sensor detects the presence of the pipe wall in real time.

[0055] The above has described the embodiments of the present application in detail with reference to the accompanying drawings. However, the present application is not limited to the above embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, various changes can be made without departing from the purpose of the present application. In addition, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other.

Claims

1. A pipeline robot, characterized in that: including a diversion assembly, the diversion assembly including a diversion pipe and an air flow generator, the air flow generator being arranged in the diversion pipe; at least two traveling assemblies, the traveling assemblies including traveling brackets and traveling wheels, the traveling brackets being arranged on the outer side wall of the diversion pipe, the traveling brackets being spaced apart along the axial direction of the diversion pipe, the traveling wheels being arranged on the traveling brackets; a sensor, the sensor being arranged in the diversion pipe, the sensor being used for monitoring the position of the pipeline robot in the pipeline.

2. The pipeline robot according to claim 1, wherein: The traveling bracket includes a first bracket seat and a plurality of bracket arms, the first bracket seat being sleeved on the outer side wall of the diversion pipe, one end of the bracket arm being arranged on the first bracket seat, the bracket arms being spaced apart along the circumference of the diversion pipe on the first bracket seat, the traveling wheels being arranged at the other end of the bracket arms.

3. The pipeline robot according to claim 2, characterized in that: The bracket arm is hinged to the first bracket seat, and a torsion spring is sleeved on the hinge shaft of the bracket arm and the first bracket seat.

4. The pipeline robot according to claim 2, wherein: The bracket arm can elastically expand and contract and adjust its length.

5. The pipeline robot according to claim 1, wherein: The pipeline robot includes a control main board, a driver and an annular chamber, the annular chamber being sleeved on the outer side wall of the diversion pipe, the control main board and the driver being arranged in the annular chamber, the driver being used for starting and stopping the air flow generator.

6. The pipeline robot according to claim 5, characterized in that: The pipeline robot includes a battery, the battery being arranged in the annular chamber.

7. The pipeline robot according to any one of claims 1 to 6, characterized in that: The air flow generator includes a worm wheel fan.

8. The pipeline robot according to claim 1, characterized in that: The pipeline robot includes a second bracket seat, the sensor being arranged on the second bracket seat, the second bracket seat being sleeved on the outer side wall of the diversion pipe.

9. The pipeline robot according to claim 1 or 8, characterized in that: Sensors are arranged at both ends of the diversion pipe.

10. The pipeline robot according to claim 8, characterized in that: The sensor is arranged as an ambient light intensity sensor or a reflective position sensor.

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