Robot for wiring in pipeline
By using the guiding role of telescopic power modules and snake bone tubes in the wiring robot in the pipeline, the problems of complex structure and poor obstacle crossing capabilities of existing robots are solved, and efficient pipeline crossing and bus route selection is achieved.
Patent Information
- Application Number
- CN202422254739.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-09-14
AI Technical Summary
When passing through pipes, existing pipeline robots have problems such as complex structure, high rigidity, obstacle crossing ability and poor bending performance, especially when it is difficult to select paths controllable at the pipe connection.
The in-pipe wiring robot driven by a telescopic power module uses the guiding role of the tilted support legs and the snake bone tube, and combines the servo module to control the bending of the snake bone tube to realize the adaptive deformation of the robot and the path selection of the bushing position.
The robot structure is simplified, costs are reduced, reliability and adaptability are improved, and it can pass bending and busing smoothly in the pipeline, achieving efficient path selection and wiring.
Smart Images
Figure CN223156596U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of embedded pipeline wiring, and particularly refers to a wiring robot inside a pipeline. Background Art
[0002] In communication and power cable laying projects, due to the requirements of protecting cables and aesthetics, the method of embedded pipelines is generally adopted. After the pipelines are embedded, the threading or addition of cables is a difficult point. To carry out the cable layout work inside the pipeline, it is necessary to pass through the narrow space inside the pipeline and thread the cables through the pipeline. Pipeline robots have attracted much attention due to their excellent passability, flexibility and controllability. Many experts and scholars at home and abroad have carried out in-depth research and continuously updated and improved them in combination with the development of new technologies. Some mature products have been applied to engineering practice and played an important role. Existing pipeline robots can be generally divided into two categories: wheeled and peristaltic according to their motion principles.
[0003] The wheeled pipeline crawling robot uses drive wheels (or crawlers) in cooperation with a tensioning mechanism to drive the robot forward. The wheeled drive technology is mature, the moving speed is fast, and the robot can move forward and backward in the pipeline. However, it has three disadvantages: First, the structure is complex, including a prime mover, a transmission mechanism, drive wheels, a tensioning mechanism, etc., and it is difficult to miniaturize; second, there are many rigid structures, and the obstacle crossing ability and the performance of passing through curves are poor; third, the passing performance at the branch pipe part is poor, and it is difficult to controllably select the branch pipe diameter.
[0004] The peristaltic pipeline crawling robot imitates the movement of insects and usually consists of two or more tensioning mechanisms at the front and rear and a distance adjustment mechanism between the tensioning mechanisms. The tensioning mechanisms alternately press against the pipe wall, and in cooperation with the change of the distance between the tensioning mechanisms, it realizes peristaltic crawling in the pipeline. The overall flexibility of the peristaltic pipeline crawling robot is good, and the performance of passing through curves is strong. At present, the peristaltic pipeline crawling robot has three disadvantages: First, the tensioning mechanism is relatively complex, and the tensioning mechanisms of some robots require high-pressure air or motors to drive; second, the number of tensioning mechanisms is small, and the obstacle crossing ability and the performance of passing through curves are poor; third, it is difficult to controllably select the branch pipe diameter.
[0005] Therefore, there is an urgent need in the market for a wiring robot inside a pipeline to solve the above problems. Content of the Utility Model
[0006] To overcome the deficiencies of the above background art, the utility model proposes a wiring robot inside a pipeline, which converts the reciprocating motion generated by the telescopic power module into the power for the device to move forward. The robot has a simple structure, low cost and high reliability. It can undergo adaptive deformation, has strong adaptability and passing ability. Relying on the guiding function of the snake bone tube, it has the ability to select the path at the branch pipe part.
[0007] The object of the present utility model is achieved through the following technical solutions: A pipeline wiring robot for laying lead wires inside a pipeline, comprising a telescopic power module, a rear brush roller, a front brush roller, and a wire reel. The rear brush roller and the front brush roller are respectively arranged on the telescopic power module. Both the rear brush roller and the front brush roller include a mandrel and support legs. One end of the support leg is arranged on the mandrel, and the support leg is inclined towards the axial direction of the mandrel. The other end of the support leg is in close contact with the pipeline. In this way, the inclined support legs increase the resistance of the rear brush roller and the front brush roller moving in the direction of the inclination of the support legs. A plurality of support legs are provided on the mandrel, and the plurality of support legs are evenly and inclinedly arranged on the mandrel. The telescopic power module includes a reciprocating moving end and a fixed end. The moving end of the telescopic power module is fixedly connected to the tail end of the mandrel of the front brush roller, and the fixed end of the telescopic power module is fixedly connected to the top end of the mandrel of the rear brush roller. In this way, the telescopic power module can drive the front brush roller to repeatedly move away from - close to - away from - close to the rear brush roller. The wire reel is connected to the rear brush roller, and the lead wire is wound on the wire reel.
[0008] Further, the telescopic power module includes a fixed frame, a driving motor, a reciprocating lead screw, and a lead screw slider. The driving motor is arranged on the fixed frame. The reciprocating lead screw is rotatably arranged on the fixed frame. The output shaft of the driving motor drives the reciprocating lead screw to rotate through a gear set. The lead screw slider is sleeved on the reciprocating lead screw, and by driving the reciprocating lead screw to rotate, the lead screw slider is driven to reciprocate axially on the reciprocating lead screw.
[0009] A front brush roller fixing hole is provided on the lead screw slider, and the tail end of the front brush roller is fixed in the front brush roller fixing hole. The moving end is the front brush roller fixing hole. A rear brush roller fixing hole is provided on the fixed frame, and the top end of the rear brush roller is fixed in the rear brush roller fixing hole. The fixed end is the rear brush roller fixing hole. In this way, the telescopic power module drives the lead screw slider to reciprocate through the reciprocating lead screw, thereby realizing the repeated movement of the moving end relative to the fixed end away from - close to - away from - close to.
[0010] Further, the gear set includes a driving gear arranged on the output shaft of the driving motor and a driven gear arranged at one end of the reciprocating lead screw. The driving gear meshes with the driven gear, thereby driving the reciprocating lead screw to rotate through the driving motor.
[0011] Furthermore, it also includes a snake bone tube and a servo module. The tail end of the snake bone tube is arranged at the top of the core shaft of the front brush roll, and the servo module is arranged on the core shaft of the front brush roll. The snake bone tube includes a plurality of snake bone tube single rings that are movably connected. The adjacent snake bone tube single rings are hinged by a movable shaft. In this way, the snake bone tube single ring can rotate a certain angle around the movable shaft. A wire hole is also provided on the snake bone tube single ring, and a guiding wire is movably sleeved in the wire hole. One end of the guiding wire is fixedly connected to the top end of the snake bone tube relative to the front brush roll, and the other end of the guiding wire is connected to the servo module. The wire hole is arranged on the bendable side of the movable shaft on the snake bone tube single ring. In this way, the snake bone tube is controlled to bend by tightening the guiding wire through the servo module.
[0012] Further, the servo module includes a housing. A servo is provided on the housing, and a wire wheel is provided at the output end of the servo. The guiding wire is fixedly connected to the wire wheel. In this way, the guiding wire can be controlled to tighten by driving the wire wheel to rotate through the servo.
[0013] Furthermore, two servos are provided on the housing of the servo module, and wire wheels are provided at the output ends of the servos. The end parts of the four guiding wires are respectively fixed on both sides of the two wire wheels. The end parts of the two guiding wires on both sides of the movable shaft in the same direction are fixed on the same wire wheel. In this way, when the wire wheels are driven to rotate by the servos, the guiding wires on one side can be controlled to tighten, and the guiding wires on the opposite side are synchronously relaxed, controlling the snake bone tube to bend towards the side where the guiding wires are tightened. The snake bone tube can be controlled to bend in the direction of the four guiding wires through the two wire wheels, and the snake bone tube can be bent in any direction and to any degree by simultaneously controlling the two groups of guiding wires.
[0014] As an optimal option, a camera lighting device is provided at the top end of the snake bone tube.
[0015] As an optimal option, the wire pay-off wheel is arranged at the tail end of the core shaft of the rear brush roll.
[0016] As an optimal option, front and rear retaining plates are provided at both ends of the wire pay-off wheel. The lead wire is wound in the groove formed by the front and rear retaining plates. The front retaining plate is close to the rear brush roll, and the rear retaining plate is tapered outward in a gradually expanding shape, facilitating the lead wire to slide off the wire pay-off wheel.
[0017] The utility model has the following advantages:
[0018] 1. The device cleverly arranges a plurality of support legs with the same inclination direction evenly on the core shaft of the brush roll, making the resistance when the device moves in the inclination direction of the support legs greater than the resistance when moving in the opposite direction of the inclination direction of the support legs after the device enters the pipeline. Thus, the reciprocating motion generated by the telescopic power module is converted into the power for the device to move forward. By using the telescopic motion generated by the reciprocating lead screw and relying on the asymmetry of the bidirectional friction force of the brush roll, the robot is directly driven to creep and crawl, eliminating the complex tensioning mechanism, greatly simplifying the structure of the robot, reducing the cost of the robot, and improving the working reliability.
[0019] 2. Both its mandrel and support legs have good flexibility, and there are numerous elastic support legs. When the pipeline bends, deforms, changes in diameter, or there are obstacles, it can undergo adaptive deformation, with strong adaptability and passing ability, and can still pass smoothly when the pipeline bends or deforms, and there are obstacles.
[0020] 3. It uses a snake bone tube as a guide. When encountering a branch pipe such as a tee, according to the video information transmitted in real time by the camera device, the snake bone tube is manipulated by the servo module to enter the target branch pipe, and then the robot is guided into the target branch pipe through the guiding function of the snake bone tube, realizing path selection at the branch pipe part. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 is a schematic diagram of the overall structure of the present utility model;
[0022] Figure 2 is a schematic diagram of the external structure of the mandrel and support legs;
[0023] Figure 3 is a schematic diagram of the telescopic power module;
[0024] Figure 4 is a schematic diagram of the gear set;
[0025] Figure 5 is a schematic diagram of the snake bone tube;
[0026] Figure 6 is a schematic diagram of the connection structure of the wire hole and the guide wire;
[0027] Figure 7 is a schematic diagram of the single ring of the snake bone tube;
[0028] Figure 8 is a schematic diagram of the servo module;
[0029] Figure 9 is a schematic diagram of the wire reel.
[0030] In the figure: Telescopic power module 1 (wherein: moving end 1a, fixed end 1b, fixed bracket 1.1, rear brush roller fixing hole 1.1.1, drive motor 1.2, reciprocating lead screw 1.3, lead screw slider 1.5, front brush roller fixing hole 1.5.1, gear set 1.7, driving gear 1.7.1, driven gear 1.7.2), rear brush roller 2 (wherein: mandrel 2.1, limiting groove 2.1.1, support leg shaft 2.1.2, support leg 2.2), front brush roller 3, wire pay-off wheel 4 (wherein: front baffle 4.1, rear baffle 4.2), pipeline 5, lead wire 6, corrugated pipe 7 (wherein: corrugated pipe single ring 7.1, shaft convex 7.1.1, shaft concave 7.1.2, movable shaft 7.2, wire hole 7.3, guiding wire 7.5), servo module 8 (wherein: housing 8.1, servo 8.2, wire wheel 8.3), camera lighting device 9. Detailed implementation manners
[0031] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer and more understandable, the following further details this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application.
[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
[0033] It should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.
[0034] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, "a plurality of" means two or more than two, unless otherwise specifically defined.
[0035] Reference to "one embodiment" or "some embodiments" described in the specification of this application means that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc. that appear in different places in this specification do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants all mean "including but not limited to", unless otherwise specifically emphasized. "Plurality" means "two or more".
[0036] The following further describes the present utility model in conjunction with the accompanying drawings and specific embodiments.
[0037] As Figures 1 to 9 shown, a pipeline wiring robot is used for laying a lead wire 6 in a pipeline 5. It includes a telescopic power module 1, a rear brush roller 2, a front brush roller 3, and a wire reel 4. The rear brush roller 2 and the front brush roller 3 are respectively arranged on the telescopic power module 1. Both the rear brush roller 2 and the front brush roller 3 include a mandrel 2.1 and support legs 2.2. One end of the support leg 2.2 is arranged on the mandrel 2.1, the support leg 2.2 inclines towards the axial direction of the mandrel 2.1, and the other end of the support leg 2.2 is in close contact with the pipeline 5. In this way, the inclined support legs 2.2 increase the resistance of the rear brush roller 2 and the front brush roller 3 moving in the inclined direction of the support legs 2.2. There are multiple support legs 2.2 on the mandrel 2.1, and the multiple support legs 2.2 are evenly inclined and arranged on the mandrel 2.1. The telescopic power module 1 includes a reciprocating moving end 1a and a fixed end 1b. The moving end 1a of the telescopic power module 1 is fixedly connected to the tail end of the mandrel 2.1 of the front brush roller 3, and the fixed end 1b of the telescopic power module 1 is fixedly connected to the top end of the mandrel 2.1 of the rear brush roller 2. In this way, the telescopic power module 1 can drive the front brush roller 3 to repeat the movement of moving away - approaching - moving away - approaching relative to the rear brush roller 2. The wire reel 4 is connected to the rear brush roller 2, and the lead wire 6 is wound around the wire reel 4.
[0038] The telescopic power module 1 includes a fixed frame 1.1, a driving motor 1.2, a reciprocating lead screw 1.3, and a lead screw slider 1.5. The driving motor 1.2 is arranged on the fixed frame 1.1. The reciprocating lead screw 1.3 is rotatably arranged on the fixed frame 1.1. The output shaft of the driving motor 1.2 drives the reciprocating lead screw 1.3 to rotate through a gear set 1.7. The lead screw slider 1.5 is sleeved on the reciprocating lead screw 1.3, and by driving the reciprocating lead screw 1.3 to rotate, the lead screw slider 1.5 moves axially back and forth on the reciprocating lead screw 1.3.
[0039] The front brush roller fixing hole 1.5.1 is provided on the lead screw slider 1.5. The tail end of the front brush roller 3 is fixed within the front brush roller fixing hole 1.5.1, and the moving end 1a is the front brush roller fixing hole 1.5.1. The rear brush roller fixing hole 1.1.1 is provided on the fixing bracket 1.1. The top end of the rear brush roller 2 is fixed within the rear brush roller fixing hole 1.1.1, and the fixed end 1b is the rear brush roller fixing hole 1.1.1. In this way, the telescopic power module 1 drives the lead screw slider 1.5 to reciprocate through the reciprocating lead screw 1.3, thereby realizing the repeated away - close - away - close movement of the moving end 1a relative to the fixed end 1b.
[0040] The gear set 1.7 includes the driving gear 1.7.1 provided on the output shaft of the driving motor 1.2 and the driven gear 1.7.2 provided at one end of the reciprocating lead screw 1.3. The driving gear 1.7.1 meshes with the driven gear 1.7.2, thereby driving the reciprocating lead screw 1.3 to rotate through the driving motor 1.2.
[0041] It further includes a snake bone tube 7 and a servo module 8. The tail end of the snake bone tube 7 is provided at the top of the mandrel 2.1 of the front brush roller 3, and the servo module 8 is provided on the mandrel 2.1 of the front brush roller 3. The snake bone tube 7 includes a plurality of snake bone tube single rings 7.1 that are movably linked. Adjacent snake bone tube single rings 7.1 are articulated through a movable shaft 7.2. In this way, the snake bone tube single ring 7.1 can rotate a certain angle around the movable shaft 7.2. A wire hole 7.3 is further provided on the snake bone tube single ring 7.1. A guiding wire 7.5 is movably sleeved within the wire hole 7.3. One end of the guiding wire 7.5 is fixedly connected to the top end of the snake bone tube 7 relative to the front brush roller 3, and the other end of the guiding wire 7.5 is connected to the servo module 8. The wire hole 7.3 is provided on the bendable side of the movable shaft 7.2 on the snake bone tube single ring 7.1. In this way, the snake bone tube 7 is controlled to bend by tightening the guiding wire 7.5 through the servo module 8.
[0042] The servo module 8 includes a housing 8.1. A servo 8.2 is provided on the housing 8.1. A wire wheel 8.3 is provided at the output end of the servo 8.2. The guiding wire 7.5 is fixedly connected to the wire wheel 8.3. In this way, the guiding wire 7.5 can be controlled to tighten by driving the wire wheel 8.3 to rotate through the servo 8.2.
[0043] Two servos 8.2 are provided on the housing 8.1 of the servo module 8. A wire wheel 8.3 is provided at the output end of the servo 8.2. The end parts of the four guiding wires 7.5 are respectively fixed on both sides of the two wire wheels 8.3. The end parts of the two guiding wires 7.5 on both sides of the movable shaft 7.2 in the same direction are fixed on the same wire wheel 8.3. In this way, when the wire wheel 8.3 is driven to rotate through the servo 8.2, the guiding wire 7.5 on one side can be controlled to tighten, and the guiding wire 7.5 on the opposite side is synchronously relaxed, controlling the snake bone tube 7 to bend towards the side where the guiding wire 7.5 is tightened. The snake bone tube 7 can be controlled to bend towards the direction of the four guiding wires 7.5 through the two wire wheels 8.3. By simultaneously controlling the two groups of guiding wires 7.5, the snake bone tube 7 can be bent in any direction to any degree.
[0044] A camera lighting device 9 is provided at the top of the snake bone tube 7.
[0045] The wire pay - out reel 4 is arranged at the tail end of the mandrel 2.1 of the rear brush roller 2.
[0046] Both ends of the wire pay - out reel 4 are provided with a front retaining piece 4.1 and a rear retaining piece 4.2. The lead wire 6 is wound in the groove formed by the front retaining piece 4.1 and the rear retaining piece 4.2. The front retaining piece 4.1 is close to the rear brush roller 2, and the rear retaining piece 4.2 is in a gradually expanding conical shape towards the outside, which is convenient for the lead wire 6 to slide off the wire pay - out reel 4.
[0047] When the utility model is actually used,
[0048] As Figures 3 to 4 shown, the telescopic power module 1 is used to generate telescopic motion to provide power for the robot to crawl. The reciprocating lead screw 1.3 drives the lead screw slider 1.5 to reciprocate, so as to realize the repeated away - close - away - close motion of the moving end 1a relative to the fixed end 1b. The telescopic power module 1 is composed of a fixed frame 1.1, a driving motor 1.2, a reciprocating lead screw 1.3, a lead screw slider 1.5, a gear set 1.7 and a lead screw cover. The driving motor 1.2 is fixedly installed on the fixed frame 1.1 and outputs a single - direction rotation. Through the transmission gear set 1.7, it drives the reciprocating lead screw 1.3 to rotate. The reciprocating lead screw 1.3 is provided with two thread grooves with the same pitch and opposite helix directions, and both ends are connected by an over - curve. Through the rotation of the reciprocating lead screw 1.3, the lead screw slider 1.5 matched with the spiral groove is pushed to make an axial reciprocating motion. A guide groove is arranged on the lead screw slider 1.5, which can cooperate with the fixed frame 1.1 to ensure that the lead screw slider 1.5 does not rotate. A front brush roller fixing hole 1.5.1 with a fastening nut is arranged at the front end of the lead screw slider 1.5, and the tail end of the front brush roller 3 is fixed in the front brush roller fixing hole 1.5.1; a rear brush roller fixing hole 1.1.1 with a fastening nut is arranged at the rear end of the fixed frame 1.1, and the top end of the rear brush roller 2 is fixed in the rear brush roller fixing hole 1.1.1. The gear set 1.7 includes a driving gear 1.7.1 and a driven gear 1.7.2. One or more transmission gears can also be arranged between the driving gear 1.7.1 and the driven gear 1.7.2. The lead screw cover is arranged at the top of the reciprocating lead screw 1.3 and is fixed to the fixed frame 1.1 to axially fix the reciprocating lead screw. Compared with the commonly used crank - slider mechanism, cylindrical cam mechanism, etc., using the reciprocating lead screw 1.3 to generate reciprocating linear motion has the advantages of compact structure, large output pushing and pulling force, uniform motion, high reliability, etc. A battery is arranged in the telescopic power module 1, which can provide the electric energy required for the robot to work, and the rotation speed of the DC driving motor 1.2 is controlled by a remote controller, thereby controlling the crawling speed of the robot.
[0049] As Figures 1 to 2As shown in the figure, the rear brush roller 2 and the front brush roller 3 are used to generate frictional forces that are asymmetric in two directions, so that the robot can wriggle and crawl in one direction under the drive of the telescopic power module 1. Taking the rear brush roller 2 as an example, the rear brush roller 2 is composed of a flexible mandrel 2.1 in the middle and a plurality of elastic support legs 2.2 hinged on the flexible mandrel 2.1. The flexible mandrel 2.1 has the ability to bend and can bend at a certain angle. A through hole is machined at the axis. The elastic support legs 2.2 have a certain flexibility and are evenly distributed on the flexible mandrel 2.1 and can rotate freely on the mandrel 2.1. When the robot enters the pipeline 5, the pipeline 5 presses the support legs 2.2 to make them tilt. The tilting direction of the support legs 2.2 is towards the rear brush roller 2. For the convenience of description, the direction towards the front brush roller 3 is the forward direction, and the direction towards the rear brush roller 2 is the reverse direction. At this time, the elastic support legs 2.2 are in contact with the reverse edge of the limit groove 2.1.1; the inclined arrangement of the support legs 2.2 causes the rear brush roller 2 and the front brush roller 3 to generate different frictions in two directions along the axial direction of the mandrel. The friction resistance coefficients in the two axial directions of the mandrel are different, and the resistance when moving in the tilting direction of the support legs 2.2 is greater than the resistance when moving in the opposite direction; when the robot completes the task, the core shaft 2.1 can be subjected to a large pulling force by quickly pulling the umbilical cable 7. Since the free end of the support leg 2.2 is pressed against the pipeline 5, the support leg 2.2 will be deformed at this time, and the fixed end rotates on the support leg shaft 2.1.2. When the core shaft 2.1 moves a certain distance, the support leg 2.2 rotates around the support leg shaft 2.1.2 until it is in contact with the forward edge of the limit groove 2.1.1, so as to realize the reverse of the tilting direction of the support leg 2.2. At this time, the robot enters the reverse state, and then automatically wriggles and crawls through the same principle, and cooperates with the traction of the umbilical cable 7 to climb out of the pipeline, effectively avoiding the external force damage to the robot when pulling the robot out of the pipeline only by pulling the umbilical cable 7.
[0050] The top end of the front brush roller 3 is fixedly connected to the tail end (the end without the camera lighting device) of the snake bone tube 7. The steering gear module 8 is arranged in the middle of the front brush roller 3. The guiding wire 7.5 end of the steering gear module 8 is provided with a jack and is fixedly connected to the tail end of the front half section of the mandrel 2.1 of the front brush roller 3. The through hole at the axis of the mandrel 2.1 can allow the guiding wire 7.5, the power line and the signal line to pass through. The other end of the steering gear module 2 relative to the guiding wire 7.5 is also provided with a jack and is fixedly connected to the top end of the rear half section of the mandrel 2.1 of the front brush roller 3. The tail end of the rear half section of the mandrel 2.1 of the front brush roller 3 is fixedly connected in the front brush roller fixing hole 1.5.1 on the lead screw slider 1.5 in the telescopic power module 1. The through hole at the axis of the mandrel 2.1 can accommodate the power line and the signal line to pass through. The top end of the rear brush roller 3 is fixedly connected in the rear brush roller fixing hole 1.1.1 on the fixed frame 1.1 in the telescopic power module 1.
[0051] As Figures 5 to 7As shown in the figure, the snake bone tube 7 is used to control the direction of the camera lighting device 9 when the robot crawls in the pipeline 5. At the same time, it controls the crawling path of the robot when encountering branch pipes such as tees. The snake bone tube 7 is composed of a number of interlaced snake bone tube single rings 7.1. Two symmetrical shaft protrusions 7.1.1 are provided on the lower edge of the snake bone tube single ring 7.1, and two symmetrical shaft recesses 7.1.2 are provided on the upper edge of the snake bone tube single ring 7.1. The shaft recess 7.1.2 protrudes from the upper edge of the snake bone tube single ring 7.1. In this way, the axes of two adjacent snake bone tube single rings 7.1 can rotate a certain angle in one direction. Two wire holes 7.3 are symmetrically arranged on the inner side of the snake bone tube single ring 7.1 near the structure of the shaft protrusion 7.1.1 for threading the guide wire 7.5. The lower surface of the snake bone tube single ring 7.1 is a plane perpendicular to the axis, and the upper surface of the snake bone tube single ring 7.1 is a curved surface. The curved surface is recessed downward near the shaft protrusion side to leave space for the relative rotation of adjacent snake bone tube single rings 7.1. The outer edges of the shaft protrusion 7.1.1 and the shaft recess 7.1.2 are both conical surfaces, and the cone tips of the conical surfaces face the axis of the snake bone tube single ring 7.1. Since the mating surface of the shaft protrusion 7.1.1 and the shaft recess 7.1.2 is a conical surface, the adjacent snake bone tube single rings (7.1) that are hinged to each other will not slip off; the wire holes 7.3 of two adjacent snake bone tube single rings 7.1 are arranged vertically and staggeredly, so that the wire holes 7.3 of the snake bone tube single rings 7.1 at intervals form four wire hole 7.3 passages in the axial direction of the snake bone tube 7. Four guide wires 7.5 are respectively arranged in the four wire hole 7.3 passages. Under the traction of the four guide wires 7.5, the snake bone tube 7 can be bent in any direction with any degree of curvature. The entire snake bone tube 7 can be formed by laser cutting and does not require separate assembly.
[0052] As Figure 8As shown, the steering gear module 8 is used to control the bending direction and degree of the serpentine tube 7. The steering gear module is composed of a housing 8.1, two micro-servos 8.2, and two wire wheels 8.3. The two micro-servos 8.2 are arranged in the housing 8.1 at a certain angle and overlapped, and the two wire wheels 8.3 are respectively fixedly connected to the output shafts of the two micro-servos 8.2. Four guide wires 7.5 pass through the wire holes 7.3 in the four movement directions of the serpentine tube 7, one end is fixed on the wire hole 7.3 of the single ring 7.1 of the serpentine tube at the top of the serpentine tube 7, and the other end passes through the through hole at the axis of the core shaft 2.1 of the front half of the front brush roller 3, and is fixed on the corresponding wire wheels 8.3 in pairs. The two symmetrically arranged guide wires 7.5 are fixed on the same wire wheel 8.8. When the servo module 8 is working, the servo 8.2 rotates to drive the wire wheel 8.3 to rotate, involving the guide wire 7.5 fixed on the wire wheel, thereby forcing the snake tube 7 to bend in a certain direction. The bending degree of the snake tube 7 in this direction can be controlled by adjusting the rotation angle of the output shaft of the servo 8.2. The two servos 8.2 cooperate with each other to control the snake tube 7 to bend in any direction and to any degree. The jack at the end of the guide wire 7.5 of the servo module 8 is fixedly connected to the tail end of the front half mandrel 2.1 of the front brush roller 3, and the jack can accommodate the guide wire 7.5, power line and signal line. The jack at the other end of the servo module 2 relative to the guide wire 7.5 is fixedly connected to the top end of the rear half mandrel 2.1 of the front brush roller 3, and the rear end of the rear half mandrel 2.1 of the front brush roller 3 is fixedly connected in the front brush roller fixing hole 1.5.1 on the lead screw slider 1.5 in the telescopic power module 1, and the front brush roller fixing hole 1.5.1 can accommodate the power line and signal line to pass through. The top end of the rear brush roller 3 is fixedly connected in the rear brush roller fixing hole 1.1.1 on the fixing frame 1.1 in the telescopic power module 1.
[0053] A battery is provided inside the steering engine module 8 for supplying power to the steering engine module 8 and the camera lighting device 9. The battery can be wirelessly controlled by a remote controller to transmit back the video signal collected by the camera device. A display screen for receiving the signal of the camera lighting device 9 is provided outside the pipe 5 for displaying the video information transmitted back by the camera lighting device 9 in real time. At the same time, the rotation angle of the two micro-steering engines 8.2 can be controlled by a remote controller, thereby controlling the bending direction and degree of the snake tube 7.
[0054] The video camera and lighting device 9 is used for lighting and video recording, and transmits the acquired video information to an external display screen through the signal line in the umbilical cable 7. The video camera and lighting device 9 is arranged at the front end of the snake tube 7, and can change the lighting and observation angles as the snake tube 7 bends, so as to facilitate the observation of details on the inner wall of the pipeline 5. When the robot approaches a branch pipe such as a tee, the snake tube 7 can be manipulated to enter the selected branch pipe with the help of real-time video signals, thereby guiding the entire robot to enter the branch pipe.
[0055] like Figure 9As shown in the figure, front baffle 4.1 and rear baffle 4.2 are provided at both ends of pay-off reel 4. The rear baffle 4.2 is gradually expanding conical towards the outside. A small hole is provided at the axis of pay-off reel 4, and the aperture is slightly larger than the diameter of the core shaft 2.1 of rear brush roller 2. In this way, pay-off reel 4 can be rotatably sleeved on the tail end of rear brush roller 2, and axial positioning is achieved by using the positioning shoulder and movable limit block. During installation, front baffle 4.1 is close to rear brush roller 2, and lead wire 6 is wound in the groove formed by front baffle 4.1 and rear baffle 4.2. During the crawling process of the robot, lead wire 6 can continuously slide down along the conical surface of rear baffle 4.2 of pay-off reel 4. Lead wire 6 can be a guide rope or a directly arranged cable. After the robot climbs out of the end of pipeline 5 to be wired, lead wire 6 is placed in pipeline 5. If lead wire 6 is a guide rope, then the cable to be arranged is tied to the guide rope, and pulling the other end of the guide rope can achieve the wiring of the cable.
[0056] The specific operation steps during the actual use of the present utility model are as follows:
[0057] Step 1: Completely insert the robot into pipeline 5 along the direction of camera lighting device 9 - snake bone tube 7 - front brush roller 3 - rear brush roller 2. At this time, the inclination direction of support leg 2.2 faces outside the pipeline 5;
[0058] Step 2: Control the driving motor 1.2 of telescopic power module 1 to start rotating. The driving motor 1.2 drives the reciprocating lead screw 1.3 to rotate, driving the lead screw slider 1.5 to reciprocate, thereby driving front brush roller 3 to reciprocate away from - close to - away from - close to rear brush roller 2;
[0059] Step 3: Since the inclined support leg 2.2 causes greater resistance when the robot moves in the inclination direction of support leg 2.2 and smaller resistance when moving in the opposite direction of the inclination direction of support leg 2.2; when front brush roller 3 moves away from rear brush roller 2, the resistance of rear brush roller 2 moving away from front brush roller 3 is greater than the resistance of front brush roller 3 moving away from rear brush roller 2, so rear brush roller 2 remains stationary and pushes front brush roller 3 to crawl forward; when front brush roller 3 moves close to rear brush roller 2, the resistance of front brush roller 3 moving close to rear brush roller 2 is greater than the resistance of rear brush roller 2 moving close to front brush roller 3, so front brush roller 3 remains stationary and drags rear brush roller 2 to crawl forward; during the process of front brush roller 3 repeatedly moving away from - close to - away from - close to rear brush roller 2, front brush roller 3 and rear brush roller 2 alternately move forward, making the whole robot wriggle forward;
[0060] Step 4: When the robot passes through a branch pipe part such as a tee, if it is necessary to control the robot to crawl towards the target branch pipe, control the two servos 8.2 of servo module 8. The servo 8.2 drives the wire wheel 8.3 to rotate, thereby controlling the bending of snake bone tube 7 so that snake bone tube 7 bends into the target branch pipe; at this time, the robot continues to wriggle forward and crawls into the target branch pipe under the guiding action of snake bone tube 7;
[0061] Step 5: When the robot crawls, the rear baffle 4.2 of the wire pay-off wheel 4 is a gradually expanding conical surface and the wire pay-off wheel 4 is rotatable. In this way, when the robot crawls forward, under the traction of the free end of the lead wire 6, the lead wire 6 will continuously slip off from the rear baffle 4.2 in circles to achieve wire routing.
[0062] Step 6: After the robot climbs out from the other end of the pipeline 5, turn off the switch, the driving motor 1.2 stops moving, and remove the remaining lead wire 6 in the wire pay-off wheel 4 to complete the layout work of the lead wire 6.
[0063] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.
Claims
1. A pipeline wiring robot for laying lead wires (6) inside a pipeline (5), characterized in that it comprises a telescopic power module (1), a rear brush roller (2), a front brush roller (3) and a wire reel (4), and the rear brush roller (2) and the front brush roller (3) are respectively arranged on the telescopic power module (1); Both the rear brush roller (2) and the front brush roller (3) include a core shaft (2.1) and support legs (2.2). One end of the support leg (2.2) is arranged on the core shaft (2.1), the support leg (2.2) inclines towards the axial direction of the core shaft (2.1), and the other end of the support leg (2.2) is in close contact with the pipeline (5); in this way, the inclined support legs (2.2) increase the resistance of the rear brush roller (2) and the front brush roller (3) moving in the inclined direction of the support legs (2.2); A plurality of support legs (2.2) are arranged on the core shaft (2.1), and the plurality of support legs (2.2) are evenly inclined and arranged on the core shaft (2.1); The telescopic power module (1) includes a moving end (1a) and a fixed end (1b) that move reciprocally. The moving end (1a) of the telescopic power module (1) is fixedly connected to the tail end of the core shaft (2.1) of the front brush roller (3), and the fixed end (1b) of the telescopic power module (1) is fixedly connected to the top end of the core shaft (2.1) of the rear brush roller (2); in this way, the telescopic power module (1) can drive the front brush roller (3) to repeat the movement of moving away - approaching - moving away - approaching relative to the rear brush roller (2); The wire reel (4) is connected to the rear brush roller (2), and the lead wire (6) is wound on the wire reel (4); The telescopic power module (1) includes a fixed frame (1.1), a driving motor (1.2), a reciprocating lead screw (1.3), and a lead screw slider (1.5). The driving motor (1.2) is arranged on the fixed frame (1.1), the reciprocating lead screw (1.3) is rotatably arranged on the fixed frame (1.1), the output shaft of the driving motor (1.2) drives the reciprocating lead screw (1.3) to rotate through a gear set (1.7), the lead screw slider (1.5) is sleeved on the reciprocating lead screw (1.3), and by driving the reciprocating lead screw (1.3) to rotate, the lead screw slider (1.5) moves axially back and forth on the reciprocating lead screw (1.3); A front brush roller fixing hole (1.5.1) is arranged on the lead screw slider (1.5), and the tail end of the front brush roller (3) is fixed in the front brush roller fixing hole (1.5.1), and the moving end (1a) is the front brush roller fixing hole (1.5.1); a rear brush roller fixing hole is arranged on the fixed frame (1.1) 1.1.1), the top of the rear brush roller (2) is fixed within the rear brush roller fixing hole (1.1.1), and the fixed end (1b) is the rear brush roller fixing hole (1.1.1); in this way, the telescopic power module (1) drives the lead screw slider (1.5) to reciprocate through the reciprocating lead screw (1.3), thereby realizing the repeated away - close - away - close movement of the moving end (1a) relative to the fixed end (1b).
2. The in-duct wiring robot according to claim 1, wherein: The gear set (1.7) includes a driving gear (1.7.1) arranged on the output shaft of the driving motor (1.2), and a driven gear (1.7.2) arranged at one end of the reciprocating lead screw (1.3), and the driving gear (1.7.1) meshes with the driven gear (1.7.2), so as to drive the reciprocating lead screw (1.3) to rotate through the driving motor (1.2).
3. The in-duct wiring robot according to claim 2, wherein: It further includes a snake bone tube (7) and a servo module (8). The tail end of the snake bone tube (7) is arranged at the top of the core shaft (2.1) of the front brush roller (3), and the servo module (8) is arranged on the core shaft (2.1) of the front brush roller (3). The snake bone tube (7) includes a plurality of snake bone tube single rings (7.1) that are movably connected. The adjacent snake bone tube single rings (7.1) are hinged through a movable shaft (7.2). In this way, the snake bone tube single ring (7.1) can rotate a certain angle around the movable shaft (7.2). A wire hole (7.3) is further arranged on the snake bone tube single ring (7.1), and a guiding wire (7.5) is movably sleeved in the wire hole (7.3). One end of the guiding wire (7.5) is fixedly connected to the top end of the snake bone tube (7) relative to the front brush roller (3), and the other end of the guiding wire (7.5) is connected to the servo module (8). The wire hole (7.3) is arranged on the bendable side of the movable shaft (7.2) of the snake bone tube single ring (7.1). In this way, the snake bone tube (7) is controlled to bend by tightening the guiding wire (7.5) through the servo module (8).
4. The in-duct wiring robot according to claim 3, characterized in that: The servo module (8) includes a housing (8.1), a servo (8.2) is arranged on the housing (8.1), a wire wheel (8.3) is arranged at the output end of the servo (8.2), and the guiding wire (7.5) is fixedly connected to the wire wheel (8.3). In this way, the tightening of the guiding wire (7.5) can be controlled by driving the wire wheel (8.3) to rotate through the servo (8.2).
5. The in-duct wiring robot according to claim 4, characterized in that: Two servos (8.2) are provided on the housing (8.1) of the servo module (8). A wire wheel (8.3) is provided at the output end of the servo (8.2). The end parts of the four guide wires (7.5) are respectively fixed on both sides of the two wire wheels (8.3). The end parts of the two guide wires (7.5) on both sides of the movable shaft (7.2) in the same direction are fixed on the same wire wheel (8.3). In this way, when the wire wheel (8.3) is driven to rotate by the servo (8.2), the guide wire (7.5) on one side can be controlled to contract, and the guide wire (7.5) on the opposite side is synchronously relaxed, so as to control the snake bone tube (7) to bend towards the side where the guide wire (7.5) contracts; the snake bone tube (7) can be controlled to bend in the direction of the four guide wires (7.5) through the two wire wheels (8.3), and the snake bone tube (7) can be bent in any direction and to any degree by simultaneously controlling the two groups of guide wires (7.5).
6. The in-duct wiring robot according to claim 5, wherein: A camera illumination device (9) is provided at the top of the snake bone tube (7).
7. A pipeline internal wiring robot according to any one of claims 1 to 6, characterized in that: The wire pay-off wheel (4) is arranged at the tail end of the mandrel (2.1) of the rear brush roll (2).
8. The in-duct wiring robot according to claim 7, characterized in that: Front and rear retaining plates (4.1) and (4.2) are provided at both ends of the wire pay-off wheel (4). The lead wire (6) is wound in the groove formed by the front retaining plate (4.1) and the rear retaining plate (4.2). The front retaining plate (4.1) is close to the rear brush roll (2), and the rear retaining plate (4.2) is tapered outwards, which is convenient for the lead wire (6) to slide off the wire pay-off wheel (4).