Pipeline robot with lifting obstacle crossing mechanism

Abstract

The invention provides a pipeline robot with a lifting obstacle crossing mechanism, and relates to the field of pipeline robotics.The pipeline robot with the lifting obstacle crossing mechanism comprises a carrying plate and a plurality of walking devices connected to the carrying plate, and each walking device comprises a connecting plate, the lifting obstacle crossing mechanism, a magnetic adsorption mechanism and two oppositely-arranged walking mechanisms; the two ends of the lifting type obstacle crossing mechanism are installed on the carrying plate and the connecting plate respectively, the magnetic adsorption mechanism and the two walking mechanisms are all installed on the side, away from the lifting type obstacle crossing mechanism, of the connecting plate, and the magnetic adsorption mechanism is located between the two walking mechanisms and used for being adsorbed to a pipeline. When the robot crosses obstacles in the pipe climbing process, the lifting type obstacle crossing mechanisms in the multiple walking devices extend, the lifting type obstacle crossing mechanisms needing to pass are contracted, the other walking devices conduct adsorption and walking, and the obstacle crossing work of the robot can be completed in the mode.

Description

Technical Field

[0001] This invention relates to the field of pipeline robots, and more particularly to a pipeline robot with a lifting and obstacle-crossing mechanism. Background Technology

[0002] With the continuous development of heavy industry and infrastructure construction, various types of places have been built. Most of these places contain pipes of various types and sizes. During use, these pipes need to be regularly inspected for safety, reliability and stability.

[0003] Currently, the inspection method still relies on manual handheld inspection instruments. Due to the large number of pipelines and the harsh and complex inspection environment, this method is often costly and inefficient, making it less than ideal. To address this issue, research teams both domestically and internationally have designed various robots capable of climbing and moving on the outside of pipelines to replace manual pipeline inspection.

[0004] Existing pipe-crawling robots also have certain shortcomings, such as overly complex structures and limited functions, making it difficult to promote and use them on a large scale. Due to their low mobility, most pipe-crawling robots only have good detection efficiency in open, simple straight pipe environments, and their obstacle-crossing capabilities are poor.

[0005] Therefore, it is necessary to provide a new pipeline robot with a lifting and obstacle-crossing mechanism to solve the above-mentioned technical problems. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides a pipeline robot with a lifting and obstacle-crossing mechanism.

[0007] The pipe robot with lifting obstacle-crossing mechanism provided by the present invention includes a mounting plate and multiple walking devices connected to the mounting plate. The walking device includes a connecting plate, a lifting obstacle-crossing mechanism, a magnetic adsorption mechanism, and two walking mechanisms arranged opposite to each other. The two ends of the lifting obstacle-crossing mechanism are respectively mounted on the mounting plate and the connecting plate. The magnetic adsorption mechanism and the two walking mechanisms are all mounted on the side of the connecting plate away from the lifting obstacle-crossing mechanism. The magnetic adsorption mechanism is located between the two walking mechanisms and is used to adsorb onto the pipe.

[0008] Preferably, the walking mechanism includes a bracket, a DC motor, and wheels. One end of the bracket is fixed to the connecting plate, the DC motor is fixedly mounted on the bracket, and the wheels are mounted on the bracket. The DC motor is used to drive the wheels to rotate.

[0009] Preferably, the magnetic adsorption mechanism includes an electric push rod, a yoke, and a permanent magnet. One end of the electric push rod is fixed to the connecting plate, and the telescopic end of the electric push rod is fixedly connected to the yoke. The yoke contains a permanent magnet.

[0010] Preferably, the cross-section of the wheel is an isosceles trapezoid.

[0011] Preferably, the lifting obstacle-crossing mechanism includes a drive device, a scissor lift device, a support device, and four bending frames. The support device is mounted on a connecting plate, one end of the scissor lift device is movably connected to the support device, the drive device is mounted on a mounting plate, and two sliding plates are mounted on the drive device. The drive device is used to drive the two sliding plates to move in opposite directions. Two bending frames are fixed on each of the two sliding plates, and the ends of the four bending frames are movably connected to the scissor lift device.

[0012] Preferably, the scissor lift device includes multiple movable parts, which are hinged end to end. Each movable part includes a central rod and two intersecting parts. Each intersecting part includes two intersecting plates, the center of which is rotatably connected to the central rod.

[0013] Preferably, the support device includes two support rails, two base rods, and two sliding seats. The two support rails are fixed on the connecting plate, and the two base rods are fixed between the two support rails. The two base rods movably pass through the two sliding seats, and two cross plates are hinged to the two sliding seats.

[0014] Preferably, the driving device includes a forward and reverse threaded screw motor, two fixed guide rails, and two push rods. The two fixed guide rails are fixed on the mounting plate, and two push rods are fixed between the two fixed guide rails. The forward and reverse threaded screw motor is fixed on the mounting plate, and its two ends are rotatably connected to the two fixed guide rails respectively. The two sliding plates are threaded onto both ends of the forward and reverse threaded screw motor, and the two push rods movably pass through the two sliding plates.

[0015] Preferably, protective covers are fixed at the positions of the multiple walking devices on the mounting plate, the driving device is located inside the protective cover, and the bending frame moves through the protective cover.

[0016] Preferably, a sealing plate is fixedly fitted on the bending frame, and a sealing rubber gasket is fixed around the side wall of the sealing plate. When the scissor fork device is in the retracted state, the sealing rubber gasket is tightly attached to the inside of the protective cover.

[0017] Compared with related technologies, the pipeline robot with lifting obstacle-crossing mechanism provided by the present invention has the following beneficial effects: This application utilizes a lifting obstacle-crossing mechanism, a magnetic adsorption mechanism, and two opposing walking mechanisms. When encountering an obstacle during the pipe-climbing process, the lifting obstacle-crossing mechanism among the multiple walking devices extends, while the lifting obstacle-crossing mechanism corresponding to the walking device to be passed retracts, causing the connecting plate, magnetic adsorption mechanism, and walking mechanism on it to rise. The remaining walking devices then adsorb and move, thus completing the robot's obstacle-crossing task. Attached Figure Description

[0018] Figure 1 This is a structural schematic diagram of the pipeline robot with lifting and obstacle-crossing mechanism provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the structure from another angle is shown; Figure 3 for Figure 1 The diagram shows a partial structural representation of the structure. Figure 1 ; Figure 4 for Figure 1 The diagram shows a partial structural representation of the structure. Figure 2 ; Figure 5 This is a structural diagram illustrating the state of the pipeline robot with lifting obstacle-crossing mechanism provided by the present invention during obstacle crossing; Figure 6 for Figure 5 A partial structural diagram of the structure shown.

[0019] The following are the labels in the diagram: 1. Mounting plate; 2. Connecting plate; 3. Bracket; 4. DC motor; 5. Wheel; 6. Electric actuator; 7. Yoke; 8. Permanent magnet; 9. Sliding plate; 10. Bending frame; 11. Center rod; 12. Support rail; 13. Bottom rod; 14. Sliding seat; 15. Positive and negative threaded screw motor; 16. Fixed rail; 17. Top rod; 18. Protective cover; 19. Sealing plate; 20. Sealing rubber gasket; 21. Cross plate. Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Please refer to the following: Figures 1-6 ,in, Figure 1 This is a structural schematic diagram of the pipeline robot with lifting and obstacle-crossing mechanism provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the structure from another angle is shown; Figure 3 for Figure 1 The diagram shows a partial structural representation of the structure. Figure 1 ; Figure 4 for Figure 1 The diagram shows a partial structural representation of the structure. Figure 2 ; Figure 5 This is a structural diagram illustrating the state of the pipeline robot with lifting obstacle-crossing mechanism provided by the present invention during obstacle crossing; Figure 6 for Figure 5 A partial structural diagram of the structure shown.

[0022] In the specific implementation process, such as Figures 1-6 As shown, it includes a mounting plate 1 and multiple walking devices connected to the mounting plate 1. The walking devices include a connecting plate 2, a lifting obstacle-crossing mechanism, a magnetic adsorption mechanism, and two walking mechanisms arranged opposite to each other. The two ends of the lifting obstacle-crossing mechanism are respectively installed on the mounting plate 1 and the connecting plate 2. The magnetic adsorption mechanism and the two walking mechanisms are all installed on the side of the connecting plate 2 away from the lifting obstacle-crossing mechanism. The magnetic adsorption mechanism is located between the two walking mechanisms and is used to adsorb onto the pipe. During obstacle crossing, multiple lifting obstacle crossing mechanisms extend, driving the connecting plate 2 to move away from the pipe. Then, the first lifting obstacle crossing structure along the pipe's forward direction retracts, thereby lifting the connecting plate 2, magnetic adsorption mechanism, and walking mechanism on it. At this time, the robot is attached to the pipe by the two magnetic adsorption mechanisms behind it. The walking mechanism then drives the entire robot to move, allowing the first walking device to cross the obstacle. After the first walking device crosses the obstacle, the remaining walking devices pass through in the same way. That is, the lifting obstacle crossing mechanism corresponding to the walking device that needs to pass retracts, driving the connecting plate 2, magnetic adsorption mechanism, and walking mechanism on it to rise. The remaining walking devices then adsorb and walk. The robot can complete the obstacle crossing task in this way. The walking mechanism includes a bracket 3, a DC motor 4, and wheels 5. One end of the bracket 3 is fixed to the connecting plate 2. The DC motor 4 is fixedly installed on the bracket 3. The wheels 5 are installed on the bracket 3. The DC motor 4 is used to drive the wheels 5 to rotate. The cross-section of the wheels 5 is an isosceles trapezoid. The motor is connected to the wheels 5 through a coupling. The DC motor 4 drives the wheels 5 to rotate, thus driving the robot to walk on the pipe. The magnetic adsorption mechanism includes an electric push rod 6, a yoke 7, and a permanent magnet 8. One end of the electric push rod 6 is fixed to the connecting plate 2, and the telescopic end of the electric push rod 6 is fixedly connected to the yoke 7. The yoke 7 is equipped with a permanent magnet 8. The electric push rod 6 makes the permanent magnet 8 and the yoke 7 adhere to the pipe surface, so that the pipe climbing robot is adsorbed onto the pipe surface. The lifting obstacle-crossing mechanism includes a drive unit, a scissor lift device, a support unit, and four bending frames 10. The support unit is mounted on a connecting plate 2. One end of the scissor lift device is movably connected to the support unit. The drive unit is mounted on a mounting plate 1. Two sliding plates 9 are mounted on the drive unit, which drives the two sliding plates 9 to move in opposite directions. Two bending frames 10 are fixed on each of the two sliding plates 9. The ends of the four bending frames 10 are hinged to the cross plates 21 in the scissor lift device. The scissor lift device includes multiple movable parts, which are hinged end to end. Each movable part includes a central rod 11 and two cross parts. Each cross part includes two cross plates 21 arranged in a cross configuration. The center of each cross plate 21 is rotatably connected to the central rod 11. The support unit includes two support rails. 12. Two base rods 13 and two sliding seats 14, two support rails 12 are fixed on the connecting plate 2, two base rods 13 are fixed between the two support rails 12, two base rods 13 movably pass through the two sliding seats 14, two cross plates 21 are hinged on the two sliding seats 14, the driving device includes a positive and negative threaded screw motor 15, two fixed rails 16 and two top rods 17, two fixed rails 16 are fixed on the mounting plate 1, two top rods 17 are fixed between the two fixed rails 16, the positive and negative threaded screw motor 15 is fixed on the mounting plate 1, the two ends of the positive and negative threaded screw motor 15 are respectively rotatably connected to the two fixed rails 16, two sliding plates 9 are threaded on the two ends of the positive and negative threaded screw motor 15, and two top rods 17 movably pass through the two sliding plates 9; The two sliding plates 9 are moved closer or further apart by the positive and negative threaded screw motor 15. When retraction is required, the two sliding plates 9 are moved further apart by the positive and negative threaded screw motor 15, and the bending frame 10 on the sliding plates 9 moves. The angle of the two intersecting plates 21 changes, which in turn drives the remaining intersecting plates 21 to rotate. The two sliding seats 14 slide on the two base rods 13 and move away from each other. In this way, the retraction of the scissor lift device can be achieved. Conversely, when the two sliding plates 9 are moved closer together by the positive and negative threaded screw motor 15, the extension of the scissor lift device can be achieved.

[0023] Protective covers 18 are fixed at the positions of multiple walking devices on the mounting plate 1. The drive device is located inside the protective cover 18. The bending frame 10 moves through the protective cover 18. A sealing plate 19 is fixedly sleeved on the bending frame 10. A sealing rubber pad 20 is fixed around the side wall of the sealing plate 19. When the scissor fork device is in the retracted state, the sealing rubber pad 20 is tightly attached to the inside of the protective cover 18. The protective cover 18 protects the internal drive unit, preventing external dust from adhering to the threads of the forward and reverse lead screw motor 15. In addition, the sealing rubber pad 20 allows multiple scissor devices to be adjusted to the retracted state when the robot is being stored. During the retraction process, the two sliding plates 9 move the bending frames 10 on them away from each other, so that the sealing rubber pad 20 is tightly attached to the through hole of the bending frame 10 inside the protective cover 18. The compressed sealing rubber pad 20 prevents external dust from entering the protective cover 18.

[0024] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0025] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A pipeline robot with a lifting and obstacle-crossing mechanism, characterized in that, The device includes a mounting plate (1) and multiple walking devices connected to the mounting plate (1). The walking devices include a connecting plate (2), a lifting obstacle-crossing mechanism, a magnetic adsorption mechanism, and two walking mechanisms arranged opposite to each other. The two ends of the lifting obstacle-crossing mechanism are respectively installed on the mounting plate (1) and the connecting plate (2). The magnetic adsorption mechanism and the two walking mechanisms are all installed on the side of the connecting plate (2) away from the lifting obstacle-crossing mechanism. The magnetic adsorption mechanism is located between the two walking mechanisms and is used to adsorb onto the pipe.

2. The pipeline robot with lifting obstacle-crossing mechanism according to claim 1, characterized in that, The walking mechanism includes a bracket (3), a DC motor (4) and a wheel (5). One end of the bracket (3) is fixed on the connecting plate (2). The DC motor (4) is fixedly installed on the bracket (3). The wheel (5) is installed on the bracket (3). The DC motor (4) is used to drive the wheel (5) to rotate.

3. The pipeline robot with lifting obstacle-crossing mechanism according to claim 1, characterized in that, The magnetic adsorption mechanism includes an electric push rod (6), a yoke (7) and a permanent magnet (8). One end of the electric push rod (6) is fixed on the connecting plate (2), and the telescopic end of the electric push rod (6) is fixedly connected to the yoke (7). The yoke (7) is provided with a permanent magnet (8).

4. The pipeline robot with lifting obstacle-crossing mechanism according to claim 2, characterized in that, The cross-section of the wheel (5) is an isosceles trapezoid.

5. The pipeline robot with lifting obstacle-crossing mechanism according to claim 1, characterized in that, The lifting obstacle-crossing mechanism includes a drive device, a scissor device, a support device, and four bending frames (10). The support device is mounted on a connecting plate (2). One end of the scissor device is movably connected to the support device. The drive device is mounted on a mounting plate (1). Two sliding plates (9) are mounted on the drive device. The drive device is used to drive the two sliding plates (9) to move in opposite directions. Two bending frames (10) are fixed on each of the two sliding plates (9). The ends of the four bending frames (10) are movably connected to the scissor device.

6. The pipeline robot with lifting obstacle-crossing mechanism according to claim 5, characterized in that, The scissor lift device includes multiple movable parts, which are hinged end to end. Each movable part includes a central rod (11) and two intersecting parts. Each intersecting part includes two intersecting plates (21), and the center of each intersecting plate (21) is rotatably connected to the central rod (11).

7. The pipeline robot with lifting obstacle-crossing mechanism according to claim 6, characterized in that, The support device includes two support rails (12), two bottom rods (13) and two sliding seats (14). The two support rails (12) are fixed on the connecting plate (2). Two bottom rods (13) are fixed between the two support rails (12). The two bottom rods (13) movably pass through the two sliding seats (14). Two cross plates (21) are hinged on the two sliding seats (14).

8. The pipeline robot with lifting obstacle-crossing mechanism according to claim 7, characterized in that, The drive device includes a positive and negative threaded screw motor (15), two fixed guide rails (16) and two push rods (17). The two fixed guide rails (16) are fixed on the mounting plate (1), and two push rods (17) are fixed between the two fixed guide rails (16). The positive and negative threaded screw motor (15) is fixed on the mounting plate (1), and the two ends of the positive and negative threaded screw motor (15) are rotatably connected to the two fixed guide rails (16). The two sliding plates (9) are threaded on both ends of the positive and negative threaded screw motor (15), and the two push rods (17) move through the two sliding plates (9).

9. The pipeline robot with lifting obstacle-crossing mechanism according to claim 5, characterized in that, Protective covers (18) are fixed at the positions of multiple walking devices on the mounting plate (1). The driving device is located inside the protective cover (18). The bending frame (10) moves through the protective cover (18).

10. The pipeline robot with lifting obstacle-crossing mechanism according to claim 9, characterized in that, A sealing plate (19) is fixedly fitted on the bending frame (10). A sealing rubber pad (20) is fixed around the side wall of the sealing plate (19) and surrounds the bending frame (10). When the scissor device is in the retracted state, the sealing rubber pad (20) is tightly attached to the inside of the protective cover (18).

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