Primary-secondary robot system for pipeline detection

Abstract

The utility model relates to a child-mother robot system for pipeline detection, the child-mother robot system comprises a mother robot and a child robot, the mother robot comprises a first main body part and a first walking part which are connected with each other, the first walking part is configured to be a walking part used for being magnetically attracted to a pipeline wall, and the first main body part is provided with a safety rope device; the safety rope device comprises a winding structure and a safety rope, the sub-robot comprises a second main body part, a second walking part and a detection module, the second walking part is connected to the second main body part, the detection module is arranged on the second main body part and used for detecting the wall thickness of the pipeline, and the first end of the safety rope is connected with the winding structure; and the second end of the safety rope is connected with the second main body part. The primary robot and the secondary robot are arranged, the primary robot and the secondary robot are connected through the safety rope, the primary robot can limit falling of the secondary robot through the safety rope, falling damage of the secondary robot is avoided, loss is reduced, and safety of operators is guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the field of robot technology, and in particular, to a mother-and-child robot system for pipeline inspection. Background Art

[0002] In the prior art, hydropower stations conduct regular inspections on the main water diversion pressure steel pipes corresponding to each unit, mainly to evaluate wear and corrosion by testing the thickness of the pipe wall. However, this inspection takes a long time and is generally carried out in conjunction with overhaul, making it difficult to inspect at any time. The diameter of the unit pressure steel pipe is large, and an operating platform needs to be set up to detect the middle and upper parts of the steel pipe. In addition, the working environment is in a confined space, and maintenance workers are exposed to operating risks such as falling from a height and suffocation by dust. By setting up an operating platform, only the horizontal section of the pressure steel pipe can be inspected, and the inclined shaft section and vertical section cannot be monitored. If a single robot is used for inspection, the robot is prone to fall in a steeper pipeline position (such as a vertical pipeline), making the inspection difficult and even damaging the robot, which is costly and may injure the operator. Utility Model Content

[0003] The purpose of the present disclosure is to provide a mother-and-child robot system for pipeline inspection to at least partially solve the technical problems existing in the related art.

[0004] In order to achieve the above-mentioned object, the present application provides a mother-child robot system for pipeline inspection, comprising a mother robot and a child robot;

[0005] The mother robot comprises a first main body and a first walking part connected to each other, the first walking part is configured to be a walking part for magnetic adsorption to a pipe wall, the first main body is provided with a safety rope device, and the safety rope device comprises a winding structure and a safety rope;

[0006] The sub-robot includes a second main body, a second walking part and a detection module, wherein the second walking part is connected to the second main body and is configured to be a walking part for magnetically adsorbing to a pipe wall, and the detection module is arranged in the second main body and is used to detect the wall thickness of the pipe;

[0007] Wherein, the first end of the safety rope is connected to the retracting structure, and the second end of the safety rope is used to be connected to the second main body.

[0008] Optionally, a receiving portion is provided on the first main body, and the sub-robot can be detachably received in the receiving portion;

[0009] Wherein, optionally, the reeling structure comprises a rope drum, and the rope drum is rotatably mounted on the first main body to be used for reeling in or releasing the safety rope;

[0010] The second main body is provided with one of a hook and a buckle that cooperate with each other, and the second end of the safety rope is provided with the other of the hook and the buckle. There are a first state and a second state. In the first state, the mother robot carries the child robot through the accommodating part and drives the child robot to walk on the pipeline wall, so that the mother robot can carry the child robot across obstacles on the pipeline wall; in the second state, the child robot is separated from the mother robot, the mother robot is stationary, the child robot is connected to the mother robot through the safety rope, and the child robot performs pipeline detection operations on the pipeline wall.

[0011] Optionally, the reeling structure comprises a rope drum, which is rotatably mounted on the first main body portion to be used for reeling in or releasing the safety rope;

[0012] The second main body is provided with one of a hanging buckle and a hook that cooperate with each other, and the second end of the safety rope is provided with the other of the hook and the hanging buckle.

[0013] Optionally, the first walking part includes a wheel-leg mechanism and a driving mechanism;

[0014] The wheel-leg mechanism comprises a thigh component, a calf component and a first roller, one end of the thigh component is connected to the first main body, the other end is hinged to one end of the calf component, and the other end of the calf component is rotatably connected to the first roller;

[0015] The first roller is provided with a first magnetic attraction member, so that the first walking part can be configured as a walking part for magnetic attraction with the pipeline wall;

[0016] The driving mechanism is used to drive the calf component to rotate around a hinge point between the calf component and the thigh component to adjust the height of the first main body.

[0017] Optionally, the first main body portion includes a first chassis connected to the first walking portion, and the accommodating portion includes a bottom plate, a fixed side plate and a movable side plate;

[0018] The bottom plate is connected to the upper surface of the first chassis and is used to hold the sub-robot. The fixed side plate is installed on the bottom plate. The bottom plate and the fixed side plate enclose a receiving groove with an opening on one side. The opening is used for the sub-robot to enter and exit the receiving groove.

[0019] The movable side plate is connected to the bottom plate and is used for closing or opening the opening.

[0020] Optionally, the movable side panel includes a first panel segment and a second panel segment, the first panel segment having a first side and a second side opposite to each other, the first side of the first panel segment being rotatably connected to the bottom panel, and the second panel segment being movably disposed on the second side of the first panel segment along a first direction, the first direction being the direction in which the first side is connected to the second side.

[0021] Optionally, the first main body further includes a first camera, a first light source, an electric control box and a first signal antenna, and the first camera, the first light source and the first signal antenna are all electrically connected to the electric control box;

[0022] The first signal antenna is used to receive a control signal from an external control system.

[0023] Optionally, the second walking part includes a second roller rotatably connected to the second main body, and the second roller is provided with a second magnetic attraction member, so that the second walking part can be constructed as a walking part for magnetic attraction with the wall of the pipeline.

[0024] Optionally, the detection module includes a detection probe and a telescopic structure, and the detection probe is connected to the second main body by connecting the telescopic structure.

[0025] Optionally, the sub-robot includes a second camera, a front-view camera, a fill light and a second signal antenna;

[0026] The second camera and the front-view camera are installed at the front end of the second main body, and the fill light is installed at the front end of the second main body and is located between the second camera and the front-view camera;

[0027] The second signal antenna is used to receive a control signal from an external control system.

[0028] Through the above technical solution, a mother robot and a child robot are set up, and the mother robot and the child robot are connected by a safety rope, and the detection module is installed on the child robot. When the child robot is inspecting the pipeline, if it falls, the mother robot can limit the fall of the child robot through the safety rope, which reduces the difficulty of detection and helps to avoid the child robot from falling and being damaged, thereby reducing losses and ensuring the safety of the operator.

[0029] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

[0031] Figure 1 is a three-dimensional schematic diagram of a first state of a mother-and-child robot system for pipeline inspection provided by an exemplary embodiment of the present disclosure, wherein a pipeline wall and a pipeline wall protrusion are shown;

[0032] Figure 2 is a three-dimensional schematic diagram of a first state of a mother-and-child robot system for pipeline inspection provided by an exemplary embodiment of the present disclosure;

[0033] Figure 3 is a perspective schematic diagram of a second state of a mother-and-child robot system for pipeline inspection provided by an exemplary embodiment of the present disclosure, wherein a pipeline wall is shown;

[0034] Figure 4 is a three-dimensional schematic diagram of a mother robot for pipeline inspection provided by an exemplary embodiment of the present disclosure, wherein a pipeline wall is shown;

[0035] Figure 5 It is a stereoscopic schematic diagram of a sub-robot for pipeline inspection provided by an exemplary embodiment of the present disclosure.

[0036] Description of Reference Numerals

[0037] 100. mother robot, 10. first main body, 11. safety rope device, 111. retracting structure, 112. safety rope, 12. accommodation part, 121. bottom plate, 122. fixed side plate, 123. movable side plate, 1231. first plate section, 1232. second plate section, 13. first chassis, 14. first camera, 15. first signal antenna, 16. electric control box, 20. first walking part, 21. thigh assembly , 22. calf assembly, 23. first roller, 24. first magnetic member, 200. sub-robot, 210. second main body, 220. second walking part, 221. second roller, 222. second magnetic member, 230. detection module, 231. detection probe, 240. forward-looking camera, 250. fill light, 260. second signal antenna, 270. second camera, 300. pipeline wall, 310. pipeline wall protrusion. DETAILED DESCRIPTION

[0038] The specific embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0039] In the description of the present disclosure, it is necessary to understand that the terms "upper", "lower", etc., indicating orientation or positional relationship, are defined based on the drawing directions shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, and a specific orientation structure and operation, and therefore cannot be understood as a limitation on the present disclosure.

[0040] In the present disclosure, it should be noted that the terms used, such as "first", "second", etc., are used to distinguish one element from another element, and do not have order and importance. In addition, in the description with reference to the drawings, the same number in different drawings represents the same element.

[0041] In the description of the present disclosure, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "connect", "connected", and "installed" 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0042] As mentioned above, in the prior art, since the interior of the main water diversion pipeline is relatively smooth and there is no reliable safety anchor point, when the robot falls during the high-altitude inspection operation, the robot will fall directly from a height. As mentioned above, when a single robot performs pipeline inspection, the robot is prone to fall in a relatively steep pipeline position (such as a vertical pipeline), making the inspection difficult or even damaging the robot, which is very costly.

[0043] In view of this, if Figures 1 to 5 As shown, the present application provides an alternative for pipeline detection, wherein the reeling structure comprises a rope drum, and the rope drum is rotatably mounted on the first main body portion to be used for reeling in or releasing the safety rope;

[0044] The second main body is provided with one of a hook and a buckle that cooperate with each other, and the second end of the safety rope is provided with the other of the hook and the buckle. 00 system, including a mother robot 100 and a child robot 200, the mother robot 100 includes a first main body 10 and a first walking part 20 connected to each other, the first walking part 20 is configured as a walking part for magnetic adsorption with a pipe wall 300 (the outer wall and / or the inner wall of the pipe) 300, the first main body 10 is provided with a safety rope device 11, the safety rope device 11 includes a reeling structure 111 and a safety rope 112, the child robot 200 includes a second main body 210, a second walking part 220 and a detection module 230, the second walking part 220 is connected to the second main body 210, and the detection module 230 is arranged on the second main body 210 for detecting the wall thickness of the pipe, wherein the first end of the safety rope 112 is connected to the reeling structure 111, and the second end of the safety rope 112 is used to connect to the second main body 210.

[0045] A mother robot 100 and a child robot 200 are set up. The mother robot 100 can be used as an anchor point, and the mother robot 100 and the child robot 200 are connected by a safety rope 112. The detection module 230 is installed on the child robot 200. When the child robot 200 is inspecting the pipeline, if it falls, the mother robot 100 can limit the fall of the child robot 200 by the safety rope 112, and can re-control the child robot 200 for inspection, so that the difficulty of inspection is reduced, and it is beneficial to avoid the child robot 200 from falling and being damaged, thereby reducing losses and ensuring the safety of the operator.

[0046] In the present disclosure, the first walking part 20 is configured as a walking part for magnetic adsorption with the pipeline wall 300 to ensure that the mother robot 100 can stably walk on the pipeline wall 300 to be detected. The detection module 230 is arranged on the second main body 210, that is, the detection pipeline is operated by the sub-robot 200, and the mother robot 100 is guaranteed to be able to stably walk or stop on the pipeline wall 300. The function of the retracting structure 111 is to store the safety rope 112, which is used to connect the sub-robot 200 and the mother robot 100 to prevent the sub-robot 200 from falling.

[0047] For example, when the sub-robot 200 is inspecting a pipeline (such as the main water diversion pressure pipeline corresponding to each unit in a hydropower station), the safety rope 112 is connected to the sub-robot 200, and the mother robot 100 stops at a high place of the pipeline to be inspected as an anchor point, providing the sub-robot 200 with safety protection by hanging the safety rope 112 high and using it low.

[0048] In this disclosure, Figures 1 to 5As shown, the reeling structure 111 may include a rope drum, which is rotatably mounted on the first main body 10 to reel in or release the safety rope 112. The second main body 210 is provided with one of a hook and a buckle that cooperate with each other, and the second end of the safety rope 112 is provided with the other of the hook and the buckle. In this way, the length of the safety rope 112 can be adjusted by rotating the rope drum, so that the sub-robot 200 can be used for adjustment of multiple positions in the pipeline.

[0049] The safety rope 112 may be a nylon rope or other soft ropes.

[0050] In some embodiments, a hook may be provided at the tail end of the sub-robot 200 to facilitate the hook provided on the safety rope 112 to be attached.

[0051] In this disclosure, Figures 1 to 4 As shown, a housing portion 12 may be provided on the first main body portion 10, and the sub-robot 200 may be detachably accommodated in the housing portion 12, wherein the mother-child robot system 100 has a first state and a second state. In the first state, the mother robot 100 carries the sub-robot 200 through the housing portion 12, and drives the sub-robot 200 to walk on the pipe wall 300, so that the mother robot 100 can carry the sub-robot 200 across obstacles located on the pipe wall 300. In the second state, the sub-robot 200 is separated from the mother robot 100, the mother robot 100 is stationary, the sub-robot 200 is connected to the mother robot 100 via a safety rope 112, and the sub-robot 200 performs pipeline detection operations on the pipe wall 300. In the first state, the mother robot 100 drives the child robot 200 to walk to the part that needs to be inspected. In the second state, the child robot 200 is separated from the mother robot 100 and walks on the pipeline wall 300 to inspect the pipeline. At this time, the mother robot 100 serves as an anchor point for the child robot 200 to prevent the child robot 200 from falling. The passing ability of the mother robot 100 is used to improve the passing ability of the child robot 200 used to detect the pipeline wall thickness.

[0052] In this disclosure, Figures 1 to 4As shown, the first walking part 20 may include a wheel-leg mechanism and a driving mechanism, the wheel-leg mechanism includes a thigh component 21, a calf component 22 and a first roller 23, one end of the thigh component 21 is connected to the first main body 10, and the other end is hinged to one end of the calf component 22, the other end of the calf component 22 is rotatably connected to the first roller 23, the first roller 23 is provided with a first magnetic member 24, so that the first walking part 20 can be constructed as a walking part for magnetic adsorption with the pipeline wall 300, and the driving mechanism is used to drive the calf component 22 to rotate around the hinge point between itself and the thigh component 21 to adjust the height of the first main body 10. Among them, the wheel-leg mechanism has a small size and a compact structure, and is suitable for both wheeled and legged motion modes, wherein the wheeled motion mode allows the mother robot 100 to walk on the pipeline wall 300, and the legged motion mode allows the mother robot 100 to cross the pipeline wall protrusion 310. The mother robot 100 is used to drive the child robot 200 to walk. The mother robot 100 has a wheel-leg mechanism to cross obstacles. The mother robot 100 can carry the child robot 200, so the mother robot 100 can carry the child robot 200 to cross obstacles located on the pipeline wall 300, such as the pipeline wall protrusion 310. Therefore, the walking part (second walking part 220) of the child robot 200 does not need to cross obstacles, so the second walking part 220 can be designed as a lightweight structure as a whole, which is conducive to reducing the weight of the child robot 200.

[0053] For example, crossing the reinforcement ribs of the pipe wall 300. Due to the limited size of the first roller 23, under the action of the magnetic adsorption force, it can only cross obstacles with a certain angle and a wide and flat top. When there are obstacles such as reinforcement ribs on the pipe wall 300 that are high, narrow at the top, and perpendicular to the steel pipe, it cannot pass through, resulting in the mother robot 100 being unable to reach places blocked by obstacles such as reinforcement ribs. In the present application, a wheel-leg structure is provided on the mother robot 100, which can cross the above obstacles, so that the mother robot 100 can reach places blocked by obstacles such as reinforcement ribs.

[0054] In some embodiments, the driving mechanism may be controlled by the electric control box 16 described below, or a controller may be provided on the driving mechanism so that it can identify the protrusion 310 on the pipe wall and cross it.

[0055] In this disclosure, Figures 1 to 4As shown, the first main body 10 may include a first chassis 13 connected to the first walking part 20, and the accommodating part 12 includes a bottom plate 121, a fixed side plate 122 and a movable side plate 123. The bottom plate 121 is connected to the upper surface of the first chassis 13 and is used to hold the sub-robot 200. The fixed side plate 122 is installed on the bottom plate 121. The bottom plate 121 and the fixed side plate 122 enclose a accommodating groove with an opening on one side, and the opening is used for the sub-robot 200 to enter and exit the accommodating groove. The movable side plate 123 is connected to the bottom plate 121 and is used to close or open the opening. The bottom plate 121 is used to park the sub-robot 200. The fixed side plate 122 is used to prevent the sub-robot 200 from sliding off the side of the bottom plate 121. Such a setting can prevent the sub-robot 200 from falling easily when it is set in the accommodating part 12. The movable side plate 123 is used to open and close the opening of the accommodating groove, which is convenient for controlling the robot to enter or exit the accommodating groove.

[0056] In this disclosure, Figure 3 and Figure 4 As shown, the movable side plate 123 may include a first plate segment 1231 and a second plate segment 1232, wherein the first plate segment 1231 has a first side and a second side opposite to each other, wherein the first side of the first plate segment 1231 is rotatably connected to the bottom plate 121, and the second plate segment 1232 is movably arranged on the second side of the first plate segment 1231 along a first direction, wherein the first direction is the direction in which the first side and the second side are connected. The first side of the first plate segment 1231 is rotatably connected to the bottom plate 121 in order to close or open the opening of the receiving groove. The second plate segment 1232 is movably arranged on the second side of the first plate segment 1231 along the first direction in order to adjust the height of the entire movable side plate 123, to prevent the movable side plate 123 from being too high and interfering with components on the pipeline when passing through a narrow position, and to ensure the balance of the mother robot 100.

[0057] In this disclosure, Figures 1 to 4 As shown, the first main body 10 may also include a first camera 14, a first light source, an electric control box 16 and a first signal antenna 15. The first camera 14, the first light source and the first signal antenna 15 are all electrically connected to the electric control box 16. The first signal antenna 15 is used to receive control signals from an external control system. The electric control box 16 can control the opening and closing of the first camera 14 and the first light source. The first signal antenna 15 is used to receive control signals from an external control system, that is, to receive signals from external operators to perform operations. The first camera 14 can conveniently assist in observing the working status of the sub-robot 200 and detecting the environmental conditions around the sub-robot 200, providing an additional field of view for the sub-robot 200.

[0058] In some embodiments, the first camera 14 is used to observe the surrounding environment, that is, to observe the size and size of obstacles, guide the first walking part 20 to overcome obstacles, and at the same time record the surface state of the pipeline in real time, so that the sub-robot 200 can avoid obstacles such as pipeline wall protrusions 310.

[0059] In some embodiments, electrical components such as an emergency stop button, a start / stop button, and an indicator light may also be provided on the first main body portion 10 , and a dedicated embedded control panel may be installed inside to control the movement of the first walking portion 20 .

[0060] In some embodiments, a battery may be installed on the first main body 10 to provide power for the first walking part 20 or the activity.

[0061] In this disclosure, Figure 5 As shown, the second walking part 220 may include a second roller 221 rotatably connected to the second main body 210, and a second magnetic attraction member 222 is provided on the second roller 221, so that the second walking part 220 can be configured as a walking part for magnetically adsorbing to the wall of the pipeline. Such a configuration can ensure the stability of the second roller 221 walking on the pipeline wall 300.

[0062] In some embodiments, the bottom plate 121 is configured to be able to be attracted to the second magnetic member 222 , for example, the bottom plate 121 is configured to be a magnetic material, thereby enhancing the stability of the sub-robot 200 parked in the receiving slot.

[0063] In the present disclosure, the detection module 230 may include a detection probe 231 and a telescopic structure, and the detection probe 231 is connected to the second main body 210 by connecting the telescopic structure. The telescopic structure can make it convenient for the detection probe 231 to approach and fit the pipeline wall 300 to be detected during detection to complete the measurement of the wall thickness, and when not detecting, that is, when the sub-robot 200 is walking, the detection probe 231 will not rub against the pipeline wall 300, thereby preventing damage to the detection probe 231.

[0064] In some embodiments, the detection probe 231 is configured as an electromagnetic ultrasonic probe (such as an electromagnetic ultrasonic EMAT probe) installed on the abdomen of the sub-robot 200, which can detect the pipeline as needed, making it convenient for the electromagnetic ultrasonic probe to approach the pipeline wall 300 that needs to be detected.

[0065] Among them, the electromagnetic ultrasonic probe uses the electromagnetic coupling method to excite and receive ultrasonic waves for detection. It has the advantages of high precision, no need for coupling agent, non-contact, suitable for high temperature detection, and easy to excite various ultrasonic waveforms.

[0066] In this disclosure, Figure 5As shown, the sub-robot 200 may include a second camera 270, a front-view camera 240, a fill light 250, and a second signal antenna 260. The second camera 270 and the front-view camera 240 are installed at the front end of the second main body 210. The fill light 250 is installed at the front end of the second main body 210 and is located between the second camera 270 and the front-view camera 240. The second signal antenna is used to receive control signals from an external control system. Among them, the second camera 270 on the sub-robot 200 can assist the sub-robot 200 in observing the surrounding environment and provide preliminary visual assistance for the sub-robot 200 to perform pipeline inspection. The front-view camera 240 provides detailed visual assistance for the forward direction of the sub-robot 200.

[0067] In some embodiments, the forward-looking camera 240 can be configured as a high-definition camera to ensure that the sub-robot 200 can locate the position of the pipeline to be inspected and the detailed conditions of the pipeline surface.

[0068] In some embodiments, the sub-robot 200 has a control panel that can be integrated inside the second main body 210 to reduce the size of the sub-robot 200, and is used to control the walking of the second walking part 220 and the extension and retraction of the telescopic structure. The second roller 221 can use four conjugate magnetic wheels to adsorb the pipe wall 300, so that the sub-robot 200 is firmly adsorbed on the pipe wall.

[0069] In some embodiments, the control system of the mother-child robot system 100 may include a processor module, a video module, a motion control module, a multi-channel wireless communication module and a power module. The output end of the video module is connected to the input end of the processor module, the motion control module is connected to the output end of the processor, and the power module supplies power to the entire control system. The multi-channel wireless communication module is composed of two wireless communications, which can be switched freely as needed, playing a role of communication redundancy, and enhancing the reliability of the robot's wireless communication in a closed environment. It also includes a monitoring system that can realize real-time image transmission, feedback the actual working conditions of the pipeline wall 300, display the thickness of the pipeline wall 300 measured by the detection system of the mother-child robot system 100, display the power usage, and realize the motion control of the mother-child robot system 100.

[0070] In some embodiments, the mother-child robot system 100 device adopts two robots, and the mother robot 100 can be used as an auxiliary obstacle-crossing platform, with high reliability, and works in an environment where falling is not likely to occur. The child robot 200 can adopt a lightweight design to reduce the weight of the child robot 200 as much as possible, ensure that the child robot 200 has sufficient magnetic adsorption force, and is not prone to falling. The mother-child robot system 100 is connected by a safety rope 112, and the mother robot 100 serves as a safety anchor point for the child robot 200 to ensure the safety of the child robot 200 when working. The detection of the inner and outer walls of the pipeline can be completed without human intervention, which improves the detection efficiency and ensures the safety of the operator.

[0071] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0072] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction, and the present disclosure will not further explain various possible combinations.

[0073] In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

1. A mother-and-child robot system for pipeline inspection, characterized in that: Including mother robot and child robot; The mother robot comprises a first main body and a first walking part connected to each other, the first walking part is configured to be a walking part for magnetic adsorption to a pipe wall, the first main body is provided with a safety rope device, and the safety rope device comprises a winding structure and a safety rope; The sub-robot includes a second main body, a second walking part and a detection module, wherein the second walking part is connected to the second main body and is configured to be a walking part for magnetically adsorbing to a pipe wall, and the detection module is arranged in the second main body and is used to detect the wall thickness of the pipe; Wherein, the first end of the safety rope is connected to the retracting structure, and the second end of the safety rope is used to be connected to the second main body.

2. The mother-and-child robot system for pipeline inspection according to claim 1, characterized in that: The first main body is provided with a housing portion, and the sub-robot is detachably housed in the housing portion; Among them, the mother-child robot system has a first state and a second state. In the first state, the mother robot carries the child robot through the accommodating part and drives the child robot to walk on the pipe wall, so that the mother robot can carry the child robot across obstacles located on the pipe wall; in the second state, the child robot is separated from the mother robot, the mother robot is stationary, the child robot is connected to the mother robot through the safety rope, and the child robot performs pipeline detection operations on the pipe wall.

3. The mother-and-child robot system for pipeline inspection according to claim 1, characterized in that: The reeling structure comprises a rope drum, which is rotatably mounted on the first main body portion to be used for reeling in or releasing the safety rope; The second main body is provided with one of a hanging buckle and a hook that cooperate with each other, and the second end of the safety rope is provided with the other of the hook and the hanging buckle.

4. The mother-and-child robot system for pipeline inspection according to claim 2, characterized in that: The first walking part includes a wheel-leg mechanism and a driving mechanism; The wheel-leg mechanism comprises a thigh component, a calf component and a first roller, one end of the thigh component is connected to the first main body, the other end is hinged to one end of the calf component, and the other end of the calf component is rotatably connected to the first roller; The first roller is provided with a first magnetic attraction member, so that the first walking part can be configured as a walking part for magnetic attraction with the pipeline wall; The driving mechanism is used to drive the calf component to rotate around a hinge point between the calf component and the thigh component to adjust the height of the first main body.

5. The mother-and-child robot system for pipeline inspection according to claim 2, characterized in that: The first main body portion includes a first chassis connected to the first walking portion, and the accommodating portion includes a bottom plate, a fixed side plate and a movable side plate; The bottom plate is connected to the upper surface of the first chassis and is used to hold the sub-robot. The fixed side plate is installed on the bottom plate. The bottom plate and the fixed side plate enclose a receiving groove with an opening on one side. The opening is used for the sub-robot to enter and exit the receiving groove. The movable side plate is connected to the bottom plate and is used for closing or opening the opening.

6. The mother-and-child robot system for pipeline inspection according to claim 5, characterized in that: The movable side panel includes a first panel segment and a second panel segment, the first panel segment has a first side and a second side opposite to each other, the first side of the first panel segment is rotatably connected to the bottom panel, and the second panel segment is movably arranged on the second side of the first panel segment along a first direction, and the first direction is the direction in which the first side is connected to the second side.

7. The mother-and-child robot system for pipeline inspection according to any one of claims 1 to 6, characterized in that: The first main body also includes a first camera, a first light source, an electric control box and a first signal antenna, and the first camera, the first light source and the first signal antenna are all electrically connected to the electric control box; The first signal antenna is used to receive a control signal from an external control system.

8. The mother-and-child robot system for pipeline inspection according to any one of claims 1 to 6, characterized in that: The second walking part includes a second roller rotatably connected to the second main body, and a second magnetic attraction member is arranged on the second roller, so that the second walking part can be constructed as a walking part for magnetic attraction with the wall of the pipeline.

9. The mother-and-child robot system for pipeline inspection according to any one of claims 1 to 6, characterized in that: The detection module includes a detection probe and a telescopic structure, and the detection probe is connected to the second main body by connecting the telescopic structure.

10. The mother-and-child robot system for pipeline inspection according to any one of claims 1 to 6, characterized in that: The sub-robot includes a second camera, a front-view camera, a fill light, and a second signal antenna; The second camera and the front-view camera are both installed at the front end of the second main body, and the fill light is installed at the front end of the second main body and is located between the second camera and the front-view camera; The second signal antenna is used to receive a control signal from an external control system.

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