Pipe passing robot with vertical falling anti-toppling structure and using method of pipe passing robot

Abstract

The invention discloses a pipe passing robot with a vertical falling anti-toppling structure and a using method of the pipe passing robot, and relates to the technical field of pipeline robots, the pipe passing robot comprises a first lifting table, a second lifting table, a controller and driving modules, and the driving modules are installed on the left side of the outer wall of the first lifting table and the right side of the second lifting table; a visual sensor is installed on the left side of the outer wall of a driving module installed on the left side of the outer wall of the first lifting table, a controller is installed on the upper side of the inner wall of the first lifting table, the driving module and the visual sensor are connected with the controller through signal lines, and the driving module comprises a worm gear, a worm, a transmission gear, a belt wheel shaft, a synchronous belt, a crawler belt and a driving motor. By installing the driving module, the omni-directional moving function of the pipe-passing robot is achieved, the problems that when the pipe-passing robot descends vertically, the landing posture is uncertain, manual righting is needed, and the terrain adaptability is poor are solved, and the environment adaptability and the operation stability of the pipe-passing robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline robots, and in particular to a pipeline-passing robot with a vertical anti-dumping structure and a use method thereof. Background Art

[0002] Traditional wheeled or tracked robots are prone to tipping over due to center of gravity shift in variable diameter pipes, vertical pipe sections, or 90° bends, leading to inspection interruption or equipment damage. The robot also has a high slip and rollover rate when crossing welds, flanges, or sediment.

[0003] In the existing technology, the pipeline robot with single-sided tracks relies on manual righting after tipping over and cannot continue working without external intervention, which reduces the working efficiency of the pipeline robot. In addition, when facing complex environments, it is unable to quickly collect environmental information, thereby affecting the working accuracy of the pipeline robot.

[0004] Patent CN112984173B discloses a pipeline obstacle-crossing robot with an anti-dumping function. The above patent prevents the pipeline robot from dumping inside the pipeline.

[0005] The above patent can be made on both sides of the pipeline robot through the anti-dumping structure, the first carriage and the second carriage, so as to prevent the pipeline robot from dumping when moving inside the pipeline. The first carriage and the second carriage can be raised and lowered during movement, so that the pipeline robot can cross obstacles. There is room for optimization in the anti-dumping function when the pipeline robot is rappelling.

[0006] To this end, the present application proposes an omnidirectionally movable pipe-passing robot with a vertical anti-dumping structure and a method for using the same. Summary of the Invention

[0007] The object of the present invention is to provide a pipe-passing robot with a vertical anti-dumping structure and a method of using the same, so as to solve the technical problem in the above-mentioned background technology that the pipe-passing robot cannot work when it is vertically dropped and dumped.

[0008] To achieve the above objectives, the present invention provides the following technical solutions: a pipe-passing robot with a vertical anti-dumping structure, comprising a first lifting platform, a second lifting platform, a controller, and a drive module, wherein the drive module is installed on the left side of the outer wall of the first lifting platform and on the right side of the second lifting platform, the drive module installed on the left side of the outer wall of the first lifting platform is installed on the left side of the outer wall, a visual sensor is installed on the left side of the outer wall, and the controller is installed on the upper side of the inner wall of the first lifting platform, and the drive module and the visual sensor are connected to the controller via a signal line;

[0009] The driving module includes: a worm wheel, a worm, a transmission gear, a pulley shaft, a synchronous belt, a crawler belt and a driving motor;

[0010] A driving motor is installed on the left side of the outer wall of the first lifting platform, a worm is installed on the left side of the outer wall of the driving motor, a worm wheel is installed on the left side of the outer wall of the worm, a transmission gear is installed on the left side of the outer wall of the worm wheel, a pulley shaft is installed on the left side of the outer wall of the transmission gear, the transmission gear is connected to the pulley shaft through a synchronous belt, and crawlers are symmetrically installed around the outer wall of the driving motor, and the crawlers located on the same side of the driving motor are connected through a pulley shaft.

[0011] Preferably, the driving module is connected to the first lifting platform via a steering module, and the steering module includes: a push rod, a Hall sensor, a universal joint and a bull's eye universal wheel;

[0012] A bull's eye universal wheel is installed on the left side of the outer wall of the first lifting platform, and a push rod is installed on the left side of the outer wall of the bull's eye universal wheel. The push rod is connected to the drive motor through a connecting shaft. A universal joint is installed on the left side of the outer wall of the push rod. A Hall sensor is installed in the middle of the inner wall of the push rod. The Hall sensor is connected to the controller through a signal line.

[0013] Preferably, a second lifting platform is installed on the right side of the outer wall of the first lifting platform, and drone modules are installed on the upper sides of the outer walls of the first lifting platform and the second lifting platform. A laser radar is installed on the right side of the outer wall of the drone module installed on the upper side of the outer wall of the first lifting platform, and the laser radar is connected to the controller through a signal line. The drone module includes: an aircraft, a storage bin, a support pulley, a bearing and a support shaft;

[0014] An aircraft is installed on the upper side of the outer wall of the first lifting platform, and the aircraft is connected to the controller through a signal line. A supporting pulley is installed on the lower side of the outer wall of the first lifting platform. The first lifting platform is connected to the bull's eye universal wheel through bearings and support shafts. A storage bin is set between the first lifting platform and the aircraft.

[0015] Preferably, a sampling module is installed on the right side of the outer wall of the driving module on the right side of the outer wall of the second lifting platform, and the sampling module includes: a sampling motor, a first screw rod, a spring, a first driven wheel, a sampling unit, a fastener and a pipe diameter adaptation unit;

[0016] A first screw rod is installed on the right side of the outer wall of the sampling module, and a sampling motor is installed on the right side of the outer wall of the first screw rod. The sampling motor is connected to the controller through a signal line. A sampling unit is installed on the lower side of the outer wall of the first screw rod, and the sampling unit is connected to the first screw rod through a connecting shaft. A spring is installed around the outer wall of the first screw rod, and a first driven wheel is installed on the left side of the outer wall of the spring. A pipe diameter adaptation unit is installed on the left side of the outer wall of the first driven wheel, and a fastener is installed on the right side of the outer wall of the spring.

[0017] Preferably, the pipe diameter adaptation unit is connected to a cable auxiliary power module via a cable, and the cable auxiliary power module includes: a storage bin, a second driven wheel, a driving wheel, a universal coupling, a second screw rod, a first steering gear and an auxiliary motor;

[0018] A first servo is installed on the right side of the outer wall of the sampling motor, a second screw is installed on the lower side of the outer wall of the first servo, driving wheels are installed on both sides of the outer wall of the first servo, a second driven wheel is installed on the right side of the outer wall of the driving wheel, the driving wheel is connected to the first servo through a connecting shaft, a universal coupling is installed on the right side of the outer wall of the second screw, a storage bin is installed on the right side of the outer wall of the universal coupling, an auxiliary motor is installed in the middle of the inner wall of the storage bin, and both sides of the middle of the inner wall of the storage bin are used to fix the sampling hose and cable pipe.

[0019] Preferably, a leveling assembly is installed between the aircraft and the first lifting platform, and the leveling assembly includes: an inclination sensor, a second servo, a carrier plate, a third servo and a rudder arm;

[0020] A carrier plate is installed on the upper side of the outer wall of the first lifting platform, a second servo is installed on the right side of the outer wall of the carrier plate, a third servo is installed on the upper side of the outer wall of the carrier plate, a rudder arm is installed on the upper side of the outer wall of the third servo, and inclination sensors are installed on the front and rear sides of the carrier plate. The inclination sensor, the second servo and the third servo are connected to the controller through signal lines.

[0021] Preferably, a rotating assembly is installed on the left side of the outer wall of the first screw rod, and the rotating assembly includes: a rotating motor and a rotating gear;

[0022] A rotating gear is installed on the left side of the outer wall of the screw rod, and a rotating motor is installed on the upper right part of the outer wall of the rotating gear. The rotating motor is connected to the rotating gear through a connecting shaft, and the rotating motor is connected to the controller through a signal line.

[0023] Preferably, the sampling unit comprises: a sampling port, a camera, a sampling hose and an auxiliary pulley;

[0024] A sampling port is installed on the lower side of the outer wall of the first screw rod, a sampling hose is installed on the right side of the outer wall of the sampling port, a camera is installed on the left side of the outer wall of the sampling port, an auxiliary pulley is installed on the lower side of the outer wall of the sampling hose, the sampling port is connected to the storage bin through the sampling hose, and a cable pipe is installed on the right side of the outer wall of the sampling hose.

[0025] Preferably, the method of use is:

[0026] S1: After the operator places the pipe-passing robot, he issues a remote command, and the controller controls the drive motor to drive the drive module into the pipe.

[0027] S2: When the first and second lifting platforms exit the pipeline successively, the controller controls the leveling assembly and the aircraft to start, collects information through the aircraft and transmits it back to the controller;

[0028] S3: After the sampling module exits the pipeline, all components except the cable-assisted power module are lowered to the ground. During the lowering process, the operator adjusts the drive modules on the left side of the first lifting platform and the right side of the second lifting platform to ensure that the pipe-passing robot can operate normally after lowering to the bottom.

[0029] S4: The operator plans a route based on the information transmitted by the aircraft and controls the tube-passing robot to the sampling location through the remote control controller;

[0030] S5: After arriving at the sampling location, the operator controls the sampling module through the controller to perform sampling;

[0031] S6: After the sampling is completed, the sample is transported through the sampling hose.

[0032] Preferably, the S3 is specifically:

[0033] S31: After the sampling module moves out of the pipeline, the operator controls the drive motor through the controller to accelerate the rotation of the crawler belt, so that the crawler belt is in a taut state;

[0034] S32: The aircraft collects the descent information of the pipe-passing robot and transmits it to the controller. When the pipe-passing robot tilts after landing, the operator controls the drive motor through the controller to drive the crawler to rotate, generating a reverse torque to offset the tilt of the pipe-passing robot, so that the pipe-passing robot maintains a normal driving state when it descends to the bottom.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] 1. The present invention, through the installation of a drive module, realizes the omnidirectional movement function of the pipe-crossing robot, solves the problems of uncertain landing posture when rappelling, the need for manual righting, and poor terrain adaptability of the pipe-crossing robot. It can operate in complex environments, and improves the environmental adaptability and operational stability of the pipe-crossing robot.

[0037] 2. The present invention, by installing a drone module, realizes the function of all-round information collection, solving the problems of difficult information collection in complex terrain, limited operation time, and information collection errors. It can collect information about the working environment of the pipe-passing robot, improve the continuous operation capability of the pipe-passing robot, avoid the situation where it cannot work due to flipping during rappelling, and improve the environmental adaptability of the pipe-passing robot.

[0038] 3. The present invention, by installing a sampling module, realizes the function of rapid sampling, solves the problems of sampling affected by ground flatness, sampling types limited by pipelines, and large energy consumption. It can quickly adapt to different types of ground for sampling, reduces the energy consumption of the pipe-passing robot, and improves the environmental adaptability and environmental protection ability of the pipe-passing robot.

[0039] 4. The present invention realizes the function of protecting the sampling hose and cable pipeline by installing a cable auxiliary power module, solves the problems of additional energy loss due to pipeline wear, damage due to pipeline friction, and limitation of the operating range due to pipeline fixation, can reduce the friction between the sampling hose and cable pipeline and the ground, extend the service life of the sampling hose and cable pipeline, and broaden the operating range of the pipe-passing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a front view structural schematic diagram of the present invention;

[0041] Figure 2 This is a schematic diagram of the front structure of the driving module of the present invention;

[0042] Figure 3 This is a schematic diagram of the side structure of the driving module of the present invention;

[0043] Figure 4 This is a schematic diagram of the structure of the rotating assembly and the UAV module of the present invention;

[0044] Figure 5 This is a schematic structural diagram of the sampling module of the present invention;

[0045] Figure 6 This is a schematic structural diagram of the cable-assisted power module of the present invention;

[0046] Figure 7 It is a schematic structural diagram of the leveling assembly of the present invention;

[0047] Figure 8 Schematic diagram of the sampling unit structure of the present invention.

[0048] Figure: 1, first lifting platform; 2, controller; 3, visual sensor; 4, worm gear; 5, worm; 6, transmission gear; 7, pulley shaft; 8, synchronous belt; 9, crawler track; 10, drive motor; 11, push rod; 12, Hall sensor; 13, universal joint; 14, bull's eye universal wheel; 15, aircraft; 16, storage bin; 17, support pulley; 18, bearing; 19, support shaft; 20, laser radar; 21, sampling motor; 22, first screw rod; 23, spring; 24, first driven wheel; 2 5. Fastener; 26. Pipe diameter adaptation unit; 27. Storage bin; 28. Second driven wheel; 29. ​​Driving wheel; 30. Universal joint; 31. Second screw rod; 32. First servo; 33. Auxiliary motor; 34. Sampling hose; 35. Inclination sensor; 36. Second servo; 37. Carrier plate; 38. Third servo; 39. Rudder arm; 40. Rotating motor; 41. Rotating gear; 42. Sampling port; 43. Camera; 44. Auxiliary pulley; 45. Cable duct; 46. Second lifting platform. DETAILED DESCRIPTION

[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0052] Example 1: Please refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 A pipe-passing robot with a vertical anti-dumping structure includes a first lifting platform 1, a second lifting platform 46, a controller 2, and a drive module. The drive module is installed on the left side of the outer wall of the first lifting platform 1 and on the right side of the second lifting platform 46. The drive module installed on the left side of the outer wall of the first lifting platform 1 is installed on the left side of the outer wall. A visual sensor 3 is installed on the left side of the outer wall. The controller 2 is installed on the upper side of the inner wall of the first lifting platform 1. The drive module and the visual sensor 3 are connected to the controller 2 via a signal line.

[0053] The drive module includes: a worm wheel 4, a worm 5, a transmission gear 6, a pulley shaft 7, a synchronous belt 8, a crawler belt 9 and a drive motor 10;

[0054] A driving motor 10 is installed on the left side of the outer wall of the first lifting platform 1, a worm 5 is installed on the left side of the outer wall of the driving motor 10, a worm wheel 4 is installed on the left side of the outer wall of the worm 5, a transmission gear 6 is installed on the left side of the outer wall of the worm wheel 4, a pulley shaft 7 is installed on the left side of the outer wall of the transmission gear 6, the transmission gear 6 is connected to the pulley shaft 7 through a synchronous belt 8, crawlers 9 are symmetrically installed around the outer wall of the driving motor 10, and the crawlers 9 located on the same side of the driving motor 10 are connected through the pulley shaft 7;

[0055] The driving module is connected to the first lifting platform 1 through the steering module, and the steering module includes: a push rod 11, a Hall sensor 12, a universal joint 13 and a bull's eye universal wheel 14;

[0056] A bull's eye universal wheel 14 is installed on the left side of the outer wall of the first lifting platform 1, and a push rod 11 is installed on the left side of the outer wall of the bull's eye universal wheel 14. The push rod 11 is connected to the drive motor 10 through a connecting shaft. A universal joint 13 is installed on the left side of the outer wall of the push rod 11. A Hall sensor 12 is installed in the middle of the inner wall of the push rod 11. The Hall sensor 12 is connected to the controller 2 through a signal line;

[0057] Furthermore, when the pipe-passing robot is traveling in the pipeline, the visual sensor 3 obtains information in the pipeline and transmits it to the controller 2, and the driving motor 10 drives the worm 5 to transmit power to the worm wheel 4, and the worm wheel 4 then transmits power to the transmission gear 6, and the power is distributed to the synchronous belt 8 through the transmission gear 6. The synchronous belt 8 is connected to the pulley shaft 7. Driven by the synchronous belt 8, the pulley shaft 7 drives the crawler 9 to move. Driven by the transmission gear 6, the pipe-passing robot can move freely in the pipeline. After everything except the cable auxiliary power module has driven out of the pipeline outlet, the pipe-passing robot descends to the ground. During the descending process, the operator controls the driving motor 10 to drive the crawler 9 to accelerate the rotation, so that the crawler 9 is in a taut state to avoid the crawler 9 from being loosened due to the impact when the pipe-passing robot lands. After landing, the crawler 9 is provided on all four sides of the driving module, and the crawler 9 is connected to the synchronous belt 8 by the pulley shaft 7. It can drive normally no matter which side it lands on. At the same time, when the pipe-passing robot flips over during the landing process, the steering assembly can always be parallel to the ground with the drive module through the action of the bull's eye universal wheel 14. When lifting and climbing are required, the operator controls the drive motor 10 through the controller 2 to drive the push rod 11 to move, and obtains the travel distance of the push rod 11 through the Hall sensor 12. Under the action of the universal joint 13, the pipe-passing robot can move flexibly in the pipeline and working environment when it is necessary to turn. When walking in a straight line, the push rod 11 is kept half extended and half retracted for loading. When the push rod 11 is extended, the top is retracted through the connection of the universal joint 13 to complete the head lifting action, so that the pipe-passing robot can complete the lifting and climbing. When turning is required, the push rod 11 on the corresponding side is retracted, and the turning is completed under the action of the universal joint 13, which improves the environmental adaptability and operation reliability of the pipe-passing robot.

[0058] Example 2: Please refer to Figure 1 、 Figure 4 and Figure 7 A pipe-passing robot with a vertical anti-dumping structure, wherein a second lifting platform 46 is installed on the right side of the outer wall of the first lifting platform 1, and drone modules are installed on the upper sides of the outer walls of the first lifting platform 1 and the second lifting platform 46. A laser radar 20 is installed on the right side of the outer wall of the drone module installed on the upper side of the outer wall of the first lifting platform 1, and the laser radar 20 is connected to the controller 2 via a signal line. The drone module includes: an aircraft 15, a storage bin 16, a support pulley 17, a bearing 18 and a support shaft 19;

[0059] An aircraft 15 is mounted on the upper side of the outer wall of the first lifting platform 1, and the aircraft 15 is connected to the controller 2 via a signal line. A support pulley 17 is mounted on the lower side of the outer wall of the first lifting platform 1, and the first lifting platform 1 is connected to the bull's eye universal wheel 14 via a bearing 18 and a support shaft 19. A storage bin 16 is provided between the first lifting platform 1 and the aircraft 15;

[0060] A leveling assembly is installed between the aircraft 15 and the first lifting platform 1, and the leveling assembly includes: an inclination sensor 35, a second steering gear 36, a carrier plate 37, a third steering gear 38 and a rudder arm 39;

[0061] A carrier plate 37 is mounted on the upper side of the outer wall of the first lifting platform 1. A second steering gear 36 is mounted on the right side of the outer wall of the carrier plate 37. A third steering gear 38 is mounted on the upper side of the outer wall of the carrier plate 37. A rudder arm 39 is mounted on the upper side of the outer wall of the third steering gear 38. Inclination sensors 35 are mounted on the front and rear sides of the carrier plate 37. The inclination sensor 35, the second steering gear 36, and the third steering gear 38 are connected to the controller 2 via signal lines.

[0062] Furthermore, when the first lifting platform 1 drives out of the pipe outlet, the operator obtains the inclination information transmitted by the inclination sensor 35 to the controller 2, and then controls the second servo 36 through the controller 2 to drive the carrier 37 to rotate, so as to keep the carrier 37 in a horizontal position, and then drives the rudder arm 39 to move through the third servo 38 to unfold the retracted arm of the aircraft 15. After the aircraft 15 is unfolded, the operator controls the aircraft 15 to take off and collect information. After the second lifting platform 46 drives out of the pipe outlet, the operator uses the same measures to control the aircraft 15 on the second lifting platform 46 to take off and collect information. The storage bin 16 located between the aircraft 15 and the first lifting platform 1 can reserve installation space for the charging device of the aircraft 15, so that the aircraft 15 can replenish energy in time during the standby process, avoiding In order to avoid energy shortage during the operation of the aircraft 15, the storage bin 16 can also be used to place electronic components to avoid damage during the descent and operation of the pipe-passing robot, thereby improving the operation stability and reliability of the pipe-passing robot. After the pipe-passing robot is lowered to the ground, if it is different from the initial driving direction, it is connected to the bull's eye universal wheel 14 through the bearing 18 and the support shaft 19, and the gravity self-balancing principle is used to make the first lifting platform 1 and the second lifting platform 46 maintain a horizontal posture after being lowered to the ground. During the movement of the pipe-passing robot, the laser radar 20 collects information about the working environment and transmits it to the controller 2. The controller 2 can perform three-dimensional modeling of the working environment based on the information collected by the laser radar 20 and the information collected by the aircraft 15, so as to facilitate the operator to analyze in combination with the sample.

[0063] Example 3: Please refer to Figure 1 、 Figure 5 and Figure 8 A pipe-passing robot with a vertical anti-dumping structure, wherein a sampling module is installed on the right side of the outer wall of the driving module on the right side of the outer wall of the second lifting platform 46. The sampling module includes: a sampling motor 21, a first screw rod 22, a spring 23, a first driven wheel 24, a sampling unit, a fastener 25 and a pipe diameter adaptation unit 26;

[0064] A first screw rod 22 is installed on the right side of the outer wall of the sampling module, a sampling motor 21 is installed on the right side of the outer wall of the first screw rod 22, the sampling motor 21 is connected to the controller 2 through a signal line, a sampling unit is installed on the lower side of the outer wall of the first screw rod 22, and the sampling unit is connected to the first screw rod 22 through a connecting shaft, a spring 23 is installed around the outer wall of the first screw rod 22, a first driven wheel 24 is installed on the left side of the outer wall of the spring 23, a pipe diameter adaptation unit 26 is installed on the left side of the outer wall of the first driven wheel 24, and a fastener 25 is installed on the right side of the outer wall of the spring 23;

[0065] A rotating assembly is installed on the left side of the outer wall of the first screw rod 22, and the rotating assembly includes: a rotating motor 40 and a rotating gear 41;

[0066] A rotating gear 41 is installed on the left side of the outer wall of the screw rod 22, and a rotating motor 40 is installed on the upper right side of the outer wall of the rotating gear 41. The rotating motor 40 is connected to the rotating gear 41 through a connecting shaft, and the rotating motor 40 is connected to the controller 2 through a signal line;

[0067] The sampling unit includes: a sampling port 42, a camera 43, a sampling hose 34 and an auxiliary pulley 44;

[0068] A sampling port 42 is mounted on the lower side of the outer wall of the first screw rod 22. A sampling hose 34 is mounted on the right side of the outer wall of the sampling port 42. A camera 43 is mounted on the left side of the outer wall of the sampling port 42. An auxiliary pulley 44 is mounted on the lower side of the outer wall of the sampling hose 34. The sampling port 42 is connected to the storage bin 27 via the sampling hose 34. A cable conduit 45 is mounted on the right side of the outer wall of the sampling hose 34.

[0069] Furthermore, after the operator controls the pipe-passing robot to arrive at the sampling location through the controller 2, the first screw rod 22 is driven to rotate by the sampling motor 21. Under the transmission action of the first screw rod 22, the sampling port 42 connected to the first screw rod 22 moves downward. When the sampling port 42 is close to the sampling location, the sampling process information is collected by the camera 43 and transmitted to the controller 2. The operator can better analyze the sample and the sampling video information. After the sampling port 42 is close to the sampling point, sampling begins. The sample is transported out through the sampling hose 34. Considering the uncertainty of the posture of the pipe-passing robot when it descends to the ground, when the sampling port 42 is not parallel to the ground and sampling cannot be performed, the operator controls the rotating motor 40 through the controller 2 to drive the rotating gear 4 1 rotates, driving the sampling port 42 connected to the first screw rod 22 to rotate, so that the sampling port 42 can be closely attached to the ground to complete the sampling work. When the sampling port 42 completes sample collection, the inner diameter of the sampling hose 34 changes. The inner diameter of the sampling hose 34 is adjusted by the tube diameter adaptation unit 26, so that the pipe-passing robot can collect different samples, thereby improving the adaptability and reliability of the pipe-passing robot in operating in different environments. After completing the sampling, the operator controls the sampling motor 21 to drive the first screw rod 22 to reverse, and combined with the contraction force of the stretched spring 23, can drive the sampling port 42 away from the ground. While ensuring the safety of the sampling port 42, it can reduce the energy consumed by the sampling motor 21, thereby improving the environmental performance of the pipe-passing robot.

[0070] Example 4: Please refer to Figure 1 、 Figure 7 and Figure 8 A pipe-passing robot with a vertical anti-dumping structure, wherein the pipe diameter adaptation unit 26 is connected to a cable-assisted power module via a cable. The cable-assisted power module includes: a storage bin 27, a second driven wheel 28, a driving wheel 29, a universal coupling 30, a second screw rod 31, a first steering gear 32, and an auxiliary motor 33;

[0071] A first steering gear 32 is mounted on the right side of the outer wall of the sampling motor 21, a second screw rod 31 is mounted on the lower side of the outer wall of the first steering gear 32, driving wheels 29 are mounted on both sides of the outer wall of the first steering gear 32, a second driven wheel 28 is mounted on the right side of the outer wall of the driving wheel 29, and the driving wheel 29 is connected to the first steering gear 32 via a connecting shaft, a universal coupling 30 is mounted on the right side of the outer wall of the second screw rod 31, a storage bin 27 is mounted on the right side of the outer wall of the universal coupling 30, an auxiliary motor 33 is mounted in the middle of the inner wall of the storage bin 27, and both sides of the middle of the inner wall of the storage bin 27 are used to fix the sampling hose 34 and the cable conduit 45;

[0072] The sampling unit includes: a sampling port 42, a camera 43, a sampling hose 34 and an auxiliary pulley 44;

[0073] A sampling port 42 is mounted on the lower side of the outer wall of the first screw rod 22. A sampling hose 34 is mounted on the right side of the outer wall of the sampling port 42. A camera 43 is mounted on the left side of the outer wall of the sampling port 42. An auxiliary pulley 44 is mounted on the lower side of the outer wall of the sampling hose 34. The sampling port 42 is connected to the storage bin 27 via the sampling hose 34. A cable conduit 45 is mounted on the right side of the outer wall of the sampling hose 34.

[0074] Furthermore, when the operator remotely controls the driving motor 10 through the controller 2 to drive the pipe-passing robot forward in the pipe, the sampling hose 34 and the cable pipe 45 pass through the storage bin 27. The operator controls the first servo 32 through the controller 2 to drive the second screw rod 31 to move, so that the driving wheel 29 is close to the sampling hose 34 and the cable pipe 45, and adjusts the tension between the driving wheel 29 and the sampling hose 34 and the cable pipe 45 to ensure that the sampling hose 34 and the cable pipe 45 can move stably and safely during the movement of the pipe-passing robot after it descends to the bottom surface. During the movement of the pipe-passing robot, the second driven wheel 28 can be driven to move by the driving module, so that the storage bin 27 can remotely follow the movement of the pipe-passing robot, thereby improving The operation range of the pipe-passing robot, at the same time, driven by the auxiliary motor 33, the universal coupling 30 compensates for the deviation of the sampling hose 34 and the cable pipe 45 during the movement. In order to avoid the sampling hose 34 and the cable pipe 45 from generating additional power consumption due to sliding friction during the movement, the cable pipe 45 and the sampling hose 34 are fixed together and an auxiliary pulley 44 is provided underneath. When the pipe-passing robot is moving, the sampling hose 34 and the cable pipe 45 slide through the auxiliary pulley 44 instead of moving directly by contacting and rubbing with the ground. While reducing power consumption, it can protect the sampling hose 34 and the cable pipe 45 from being damaged, thereby improving the operation stability and working reliability of the pipe-passing robot.

[0075] Example 5: Please refer to Figure 1 and Figure 6 A pipe-passing robot with a vertical anti-dumping structure, wherein the pipe diameter adaptation unit 26 is connected to a cable-assisted power module via a cable. The cable-assisted power module includes: a storage bin 27, a second driven wheel 28, a driving wheel 29, a universal coupling 30, a second screw rod 31, a first steering gear 32, and an auxiliary motor 33;

[0076] A first steering gear 32 is mounted on the right side of the outer wall of the sampling motor 21, a second screw rod 31 is mounted on the lower side of the outer wall of the first steering gear 32, driving wheels 29 are mounted on both sides of the outer wall of the first steering gear 32, a second driven wheel 28 is mounted on the right side of the outer wall of the driving wheel 29, and the driving wheel 29 is connected to the first steering gear 32 via a connecting shaft, a universal coupling 30 is mounted on the right side of the outer wall of the second screw rod 31, a storage bin 27 is mounted on the right side of the outer wall of the universal coupling 30, an auxiliary motor 33 is mounted in the middle of the inner wall of the storage bin 27, and both sides of the middle of the inner wall of the storage bin 27 are used to fix the sampling hose 34 and the cable conduit 45;

[0077] Furthermore, during the descent of the pipe-passing robot, when the operator obtains the descent information of the pipe-passing robot collected by the aircraft 15 through the controller 2, when the descent speed of the pipe-passing robot is too fast or there are particles on the ground that may damage the pipe-passing robot, the operator controls the first servo 32 to adjust the tension of the sampling hose 34 and the cable pipe 45 by the driving wheel 29, so that part of the tension generated by the pipe-passing robot during the descent process acts on the pulling of the sampling hose 34 and the cable pipe 45, thereby slowing down the descent speed of the pipe-passing robot and improving the safety of the use of the pipe-passing robot.

[0078] Working principle: When the pipe-passing robot is traveling in the pipe, it obtains information inside the pipe through the visual sensor 3 and transmits it to the controller 2. When the first lifting platform 1 drives out of the pipe outlet, the operator obtains the inclination information transmitted to the controller 2 by the inclination sensor 35, and controls the second servo 36 through the controller 2 to rotate the carrier 37, so as to keep the carrier 37 in a horizontal position. Then, the third servo 38 drives the rudder arm 39 to move, and the retracted arm of the aircraft 15 is unfolded. After the aircraft 15 is unfolded, the operator controls the aircraft 15 to take off and collect information. After the second lifting platform 46 drives out of the pipe outlet, the operator uses the same measures to control the aircraft 15 on the second lifting platform 46 to take off and collect information. The storage bin 16 between the aircraft 15 and the first lifting platform 1 can reserve installation space for the charging device of the aircraft 15, so that The aircraft 15 can replenish energy in time during the standby process to avoid energy shortage during the operation of the aircraft 15. The storage bin 16 can also be used to place electronic components to avoid damage during the descent and operation of the pipe-passing robot, thereby improving the operational stability and reliability of the pipe-passing robot. After the pipe-passing robot is lowered to the ground, if it is different from the initial driving orientation, it is connected to the bull's eye universal wheel 14 through the bearing 18 and the support shaft 19. The principle of gravity self-balancing is used to make the first lifting platform 1 and the second lifting platform 46 maintain a horizontal posture after being lowered to the ground. During the movement of the pipe-passing robot, the laser radar 20 collects information about the working environment and transmits it to the controller 2. The controller 2 can perform three-dimensional modeling of the working environment based on the information collected by the laser radar 20 and the information collected by the aircraft 15, so that the operator can analyze it in combination with the sample.

[0079] The driving motor 10 drives the worm 5 to transmit power to the worm wheel 4, and the worm wheel 4 then transmits power to the transmission gear 6, which distributes power to the synchronous belt 8 through the transmission gear 6. The synchronous belt 8 is connected to the pulley shaft 7. Driven by the synchronous belt 8, the pulley shaft 7 drives the track 9 to move. Driven by the transmission gear 6, the pipe-passing robot can move freely in the pipeline. After everything except the cable-assisted power module has driven out of the pipeline outlet, the pipe-passing robot descends to the ground. During the descending process, the operator controls the driving motor 10 to drive the track 9 to accelerate the rotation, so that the track 9 is in a taut state to avoid the track 9 from being loosened due to the impact when the pipe-passing robot lands. After landing, the track 9 is set on all four sides of the driving module, and the track 9 is connected to the synchronous belt 8 by the pulley shaft 7, so that the pipe-passing robot can travel normally no matter which side it lands on. At the same time, when the pipe-passing robot flips over during the landing process, the steering assembly can always be parallel to the driving module and close to the ground through the action of the bull's eye universal wheel 14. When it is necessary to lift and climb, the operator controls the driving motor 10 through the controller 2 to drive the push rod 11 to move, and obtains the travel distance of the push rod 11 through the Hall sensor 12. Under the action of the universal joint 13, the pipe-passing robot can move flexibly when it is needed to turn in the pipeline and working environment. When walking in a straight line, the push rod 11 is kept half extended and half retracted for loading. When the push rod 11 is extended, the top is retracted through the connection of the universal joint 13 to complete the head lifting action, so that the pipe-passing robot can complete the lifting and climbing. When turning is required, it is provided to the push rod 11 on the corresponding side to complete the turning under the action of the universal joint 13;

[0080] After the operator controls the pipe-passing robot to arrive at the sampling location through the controller 2, the first screw rod 22 is driven to rotate by the sampling motor 21. Under the transmission action of the first screw rod 22, the sampling port 42 connected to the first screw rod 22 moves downward. When the sampling port 42 is close to the sampling location, the sampling process information is collected by the camera 43 and transmitted to the controller 2. The operator can better analyze the sample and the sampling video information. After the sampling port 42 is close to the sampling point, sampling begins. The sample is transported out through the sampling hose 34. Taking into account the uncertainty of the posture of the pipe-passing robot when it descends to the ground, when the sampling port 42 is not parallel to the ground and sampling cannot be performed, the operator controls the rotating motor 40 through the controller 2 to drive the rotating gear 41 to rotate The sampling port 42 connected to the first screw rod 22 rotates, so that the sampling port 42 can be closely attached to the ground to complete the sampling work. When the sampling port 42 completes sample collection, the inner diameter of the sampling hose 34 changes. The inner diameter of the sampling hose 34 is adjusted by the tube diameter adaptation unit 26, so that the pipe-passing robot can collect different samples, thereby improving the adaptability and reliability of the pipe-passing robot in different environments. After completing the sampling, the operator controls the sampling motor 21 to drive the first screw rod 22 to reverse, and combined with the contraction force of the stretched spring 23, the sampling port 42 can be driven away from the ground. While ensuring the safety of the sampling port 42, it can also reduce the energy consumed by the sampling motor 21, thereby improving the environmental performance of the pipe-passing robot.

[0081] When the operator remotely controls the driving motor 10 through the controller 2 to drive the pipe-passing robot forward in the pipe, the sampling hose 34 and the cable pipe 45 pass through the storage bin 27. The operator controls the first servo 32 through the controller 2 to drive the second screw rod 31 to move, so that the driving wheel 29 is close to the sampling hose 34 and the cable pipe 45, and adjusts the tension between the driving wheel 29 and the sampling hose 34 and the cable pipe 45 to ensure that the sampling hose 34 and the cable pipe 45 can move stably and safely during the movement of the pipe-passing robot after it descends to the bottom surface. During the movement of the pipe-passing robot, the second driven wheel 28 can be driven to move through the driving module, so that the storage bin 27 can remotely follow the pipe-passing robot. The robot moves, which increases the operating range of the pipe-passing robot. At the same time, driven by the auxiliary motor 33, the universal coupling 30 compensates for the deviation of the sampling hose 34 and the cable pipe 45 during the movement. In order to avoid additional power consumption of the sampling hose 34 and the cable pipe 45 due to sliding friction during the movement, the cable pipe 45 and the sampling hose 34 are fixed together and an auxiliary pulley 44 is provided underneath. During the movement of the pipe-passing robot, the sampling hose 34 and the cable pipe 45 slide through the auxiliary pulley 44 instead of moving by direct contact and friction with the ground. While reducing power consumption, the sampling hose 34 and the cable pipe 45 can be protected from damage.

[0082] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A pipe-passing robot with a vertical anti-dumping structure, comprising a first lifting platform (1), a second lifting platform (46), a controller (2) and a drive module, characterized in that: A driving module is installed on the left side of the outer wall of the first lifting platform (1) and on the right side of the second lifting platform (46); a visual sensor (3) is installed on the left side of the outer wall of the driving module installed on the left side of the outer wall of the first lifting platform (1); a controller (2) is installed on the upper side of the inner wall of the first lifting platform (1); the driving module and the visual sensor (3) are connected to the controller (2) via a signal line; The driving module comprises: a worm wheel (4), a worm (5), a transmission gear (6), a pulley shaft (7), a synchronous belt (8), a crawler belt (9) and a driving motor (10); A driving motor (10) is installed on the left side of the outer wall of the first lifting platform (1), a worm (5) is installed on the left side of the outer wall of the driving motor (10), a worm wheel (4) is installed on the left side of the outer wall of the worm (5), a transmission gear (6) is installed on the left side of the outer wall of the worm wheel (4), a pulley shaft (7) is installed on the left side of the outer wall of the transmission gear (6), the transmission gear (6) is connected to the pulley shaft (7) through a synchronous belt (8), crawlers (9) are symmetrically installed around the outer wall of the driving motor (10), and the crawlers (9) located on the same side of the driving motor (10) are connected through the pulley shaft (7).

2. The pipe-passing robot with a vertical anti-dumping structure according to claim 1, characterized in that: The driving module is connected to the first lifting platform (1) via a steering module, and the steering module comprises: a push rod (11), a Hall sensor (12), a universal joint (13) and a bull's eye universal wheel (14); A bull's eye universal wheel (14) is installed on the left side of the outer wall of the first lifting platform (1), a push rod (11) is installed on the left side of the outer wall of the bull's eye universal wheel (14), the push rod (11) is connected to the drive motor (10) through a connecting shaft, a universal joint (13) is installed on the left side of the outer wall of the push rod (11), a Hall sensor (12) is installed in the middle of the inner wall of the push rod (11), and the Hall sensor (12) is connected to the controller (2) through a signal line.

3. The pipe-passing robot with a vertical anti-dumping structure according to claim 1, characterized in that: A second lifting platform (46) is installed on the right side of the outer wall of the first lifting platform (1), and drone modules are installed on the upper sides of the outer walls of the first lifting platform (1) and the second lifting platform (46). A laser radar (20) is installed on the right side of the outer wall of the drone module installed on the upper side of the outer wall of the first lifting platform (1), and the laser radar (20) is connected to the controller (2) via a signal line. The drone module includes: an aircraft (15), a storage bin (16), a support pulley (17), a bearing (18) and a support shaft (19); An aircraft (15) is installed on the upper side of the outer wall of the first lifting platform (1), and the aircraft (15) is connected to the controller (2) through a signal line. A support pulley (17) is installed on the lower side of the outer wall of the first lifting platform (1). The first lifting platform (1) is connected to the bull's eye universal wheel (14) through a bearing (18) and a support shaft (19). A storage bin (16) is provided between the first lifting platform (1) and the aircraft (15).

4. The pipe-passing robot with a vertical anti-dumping structure according to claim 1, characterized in that: A sampling module is installed on the right side of the outer wall of the driving module on the right side of the outer wall of the second lifting platform (46), and the sampling module includes: a sampling motor (21), a first screw rod (22), a spring (23), a first driven wheel (24), a sampling unit, a fastener (25) and a pipe diameter adaptation unit (26); A first screw rod (22) is installed on the right side of the outer wall of the sampling module, a sampling motor (21) is installed on the right side of the outer wall of the first screw rod (22), the sampling motor (21) is connected to the controller (2) through a signal line, a sampling unit is installed on the lower side of the outer wall of the first screw rod (22), the sampling unit is connected to the first screw rod (22) through a connecting shaft, a spring (23) is installed around the outer wall of the first screw rod (22), a first driven wheel (24) is installed on the left side of the outer wall of the spring (23), a pipe diameter adaptation unit (26) is installed on the left side of the outer wall of the first driven wheel (24), and a fastener (25) is installed on the right side of the outer wall of the spring (23).

5. The pipe-passing robot with a vertical anti-dumping structure according to claim 4, characterized in that: The pipe diameter adaptation unit (26) is connected to a cable auxiliary power module via a cable, and the cable auxiliary power module includes: a storage bin (27), a second driven wheel (28), a driving wheel (29), a universal joint (30), a second screw rod (31), a first steering gear (32) and an auxiliary motor (33); A first steering gear (32) is installed on the right side of the outer wall of the sampling motor (21), a second screw rod (31) is installed on the lower side of the outer wall of the first steering gear (32), a driving wheel (29) is installed on both sides of the outer wall of the first steering gear (32), a second driven wheel (28) is installed on the right side of the outer wall of the driving wheel (29), the driving wheel (29) is connected to the first steering gear (32) through a connecting shaft, a universal coupling (30) is installed on the right side of the outer wall of the second screw rod (31), a storage bin (27) is installed on the right side of the outer wall of the universal coupling (30), an auxiliary motor (33) is installed in the middle of the inner wall of the storage bin (27), and both sides of the middle of the inner wall of the storage bin (27) are used to fix the sampling hose (34) and the cable pipe (46).

6. The pipe-passing robot with a vertical anti-dumping structure according to claim 3, characterized in that: A leveling assembly is installed between the aircraft (15) and the first lifting platform (1), and the leveling assembly includes: an inclination sensor (35), a second steering gear (36), a carrier plate (37), a third steering gear (38) and a rudder arm (39); A carrier plate (37) is installed on the upper side of the outer wall of the first lifting platform (1), a second steering gear (36) is installed on the right side of the outer wall of the carrier plate (37), a third steering gear (38) is installed on the upper side of the outer wall of the carrier plate (37), a rudder arm (39) is installed on the upper side of the outer wall of the third steering gear (38), and an inclination sensor (35) is installed on the front and rear sides of the carrier plate (37). The inclination sensor (35), the second steering gear (36) and the third steering gear (38) are connected to the controller (2) through a signal line.

7. The pipe-passing robot with a vertical anti-dumping structure according to claim 4, characterized in that: A rotating assembly is installed on the left side of the outer wall of the first screw rod (22), and the rotating assembly includes: a rotating motor (40) and a rotating gear (41); A rotating gear (41) is installed on the left side of the outer wall of the screw rod (22), and a rotating motor (40) is installed on the upper right side of the outer wall of the rotating gear (41). The rotating motor (40) is connected to the rotating gear (41) through a connecting shaft, and the rotating motor (40) is connected to the controller (2) through a signal line.

8. The pipe-passing robot with a vertical anti-dumping structure according to claim 4, characterized in that: The sampling unit comprises: a sampling port (42), a camera (43), a sampling hose (34) and an auxiliary pulley (44); A sampling port (42) is installed on the lower side of the outer wall of the first screw rod (22), a sampling hose (34) is installed on the right side of the outer wall of the sampling port (42), a camera (43) is installed on the left side of the outer wall of the sampling port (42), an auxiliary pulley (44) is installed on the lower side of the outer wall of the sampling hose (34), the sampling port (42) is connected to the storage bin (27) through the sampling hose (34), and a cable conduit (45) is installed on the right side of the outer wall of the sampling hose (34).

9. A method for using a pipe-passing robot with a vertical anti-dumping structure, applicable to the pipe-passing robot with a vertical anti-dumping structure according to any one of claims 1 to 8, characterized in that: The method of use is: S1: After the operator places the pipe-passing robot, he issues a remote command, and the controller (2) controls the drive motor (10) to drive the drive module to move into the pipe; S2: When the first lifting platform (1) and the second lifting platform (46) successively exit the pipeline, the controller (2) controls the leveling component and the aircraft (15) to start, collects information through the aircraft (15) and transmits it back to the controller (2); S3: After the sampling module is driven out of the pipeline, all parts except the cable auxiliary power module are lowered to the ground. During the lowering process, the operator adjusts the drive modules on the left side of the first lifting platform (1) and the right side of the second lifting platform (46) to ensure that the pipe-passing robot can work normally after it is lowered to the bottom; S4: The operator formulates a driving route based on the information transmitted by the aircraft (15), and controls the tube-passing robot to go to the sampling location through the remote control controller (2); S5: After arriving at the sampling location, the operator controls the sampling module through the controller (2) to perform sampling; S6: After the sampling is completed, the sample is transported through the sampling hose (34).

10. The method for using the pipe-passing robot with a vertical anti-dumping structure according to claim 9, characterized in that: The S3 is specifically: S31: After the sampling module exits the pipeline, the operator controls the drive motor (10) through the controller (2) to drive the crawler belt (9) to rotate at an accelerated speed, so that the crawler belt (9) is in a taut state; S32: The aircraft (15) collects the vertical descent information of the pipe-crossing robot and transmits it to the controller (2). When the pipe-crossing robot tilts after landing, the operator controls the drive motor (10) through the controller (2) to drive the crawler (9) to rotate, thereby generating a reverse torque to offset the tilt of the pipe-crossing robot, so that the pipe-crossing robot maintains a normal driving state when it descends to the bottom surface.

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