Pipeline robot

Abstract

The utility model relates to a pipeline robot which comprises a robot body, a signal wire harness, a winding device used for winding or releasing the signal wire harness and a controller used for controlling the winding device and the robot body, one end of the signal wire harness is connected with the robot body, and the other end of the signal wire harness is connected with the controller through the winding device. And the controller is connected with the winding device. When the robot body advances, the controller controls the winding device to synchronously release the signal wire harness, the robot body only needs to pull the signal wire harness to advance, and when the robot body retreats, the winding device synchronously winds the signal wire harness, so that the robot body does not roll the signal wire harness, and the problem that the signal wire harness winds the robot body is avoided; and reliable walking of the robot body is ensured. In addition, the signal wire harness is wound through the winding device, the signal wire harness is not prone to scattering and knotting and the like, and storage is more time-saving and labor-saving.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline operation equipment, in particular to a pipeline robot. Background Art

[0002] For buried or concealed liquid supply pipelines or gas supply pipelines, quality inspections of pipeline connections and internal wall anti-corrosion usually need to be carried out before the pipelines are installed and concealed. During daily use, inspections and maintenance of the pipeline inner wall and the pipeline are also required. When problems occur during use and it is necessary to find the cause and the location of the problem, it is time-consuming and laborious to damage the concealed layer. Therefore, it is of great significance to accurately find the location of the problem. In order to adapt to some pipelines with small diameters (where operators cannot enter), ensure personal safety, and improve operation efficiency, it is imperative to use robots to replace pipeline operations.

[0003] Due to different installation environments, pipeline structures have situations such as different pipe diameter exchanges, turns, uphill and downhill slopes, and vertical and horizontal alternations. Moreover, the signal inside the pipeline is poor, and most liquid supply pipelines or gas supply pipelines are metal pipelines, which will shield radio signals. Therefore, the robot cannot establish a wireless signal connection with an external control device. The existing pipeline robots have the following problems:

[0004] 1. Most are only suitable for operating in horizontal and straight pipelines, but it is inconvenient or even difficult to turn, climb slopes, and switch between vertical and horizontal directions. Moreover, the walking wheels are located at the bottom of the pipeline, and the accumulated liquid (mud) at the bottom of the pipe seriously affects walking.

[0005] 2. The pipeline robot needs to drag a signal wire harness into the pipeline, and the pipeline robot may need to move backward, turn and avoid in the pipeline. At this time, problems such as the signal wire harness being wound around the wheels may occur. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a pipeline robot, in which the signal wire harness walks synchronously with the robot, and there are no problems of the signal wire harness restricting the walking of the robot and winding around the robot.

[0007] To achieve the above purpose, the utility model discloses a pipeline robot, which includes a robot body, a signal wire harness, a winding device for winding or releasing the signal wire harness, and a controller for controlling the winding device and the robot body. The robot body is provided with a signal transceiver unit. One end of the signal wire harness is connected to the signal transceiver unit, the other end of the signal wire harness is connected to the controller through the winding device, and the controller is connected to the winding device.

[0008] With the above settings, when the robot body advances in the pipeline, the controller controls the winding device to synchronously release the signal wire harness. The robot body advances with the signal wire harness, making the walking easy. When the robot body retreats, the winding device synchronously winds up the signal wire harness, so that the robot body will not crush the signal wire harness and there will be no problem of the signal wire harness winding around the robot body, ensuring the reliable walking of the robot body in the pipeline. The signal wire harness is wound up by the winding device, and the signal wire harness is not likely to be scattered and knotted, etc., and the storage is more time-saving and labor-saving.

[0009] Preferably, a tension sensing unit for sensing the tension between the robot body and the signal wire harness is provided on the robot body, and the tension sensing unit is connected to the signal transceiver unit. By sensing the magnitude of the tension of the signal wire harness during the walking of the robot body and feeding it back to the controller through the signal transceiver unit and the signal wire harness, the winding device is further controlled to speed up or slow down the speed of winding up or releasing the signal wire harness, further ensuring the synchronous walking of the signal wire harness and the robot.

[0010] Preferably, the tension sensing unit includes a sleeve, a tension sensor, a spring, a movable connecting sleeve, a movable connecting plate and a rotating ring. The sleeve is installed on the robot body, the tension sensor is installed at the bottom of the sleeve, one end of the spring is connected to the tension sensor, and the other end of the spring is connected to the movable connecting plate, and the movable connecting plate is placed outside the sleeve; the movable connecting sleeve is inserted into the sleeve, and the movable connecting sleeve is connected to one side of the movable connecting plate close to the sleeve, and the rotating ring is connected to the side of the movable connecting plate far from the sleeve; one end of the signal wire harness connected to the signal transceiver unit has a buffer section, one end of the buffer section is connected to the rotating ring, and the other end of the buffer section is connected to the signal transceiver unit. The sleeve is fixed at the rear end of the robot body and is preferably not protruding from the frame. After leaving enough length for connecting with the signal transceiver unit of the robot body at one end of the signal wire harness (i.e., the buffer section), it is fixed on the rotating ring on the movable connecting plate. In this way, when the robot body walks around, the rotating ring rotates and the signal wire harness does not twist, and the walking of the robot body does not affect the connection between the signal wire harness and the signal transceiver unit. The diameter of the movable connecting sleeve ≤ 0.9 times the diameter of the sleeve, and the diameter or side length of the movable connecting plate ≥ 1.2 times the diameter of the sleeve.

[0011] Under normal conditions, the movable connecting plate is slightly tensioned by the spring and both ends of the signal wire harness. The movable connecting sleeve extends into the sleeve by ≥ 15 mm. The movable connecting plate is adjacent to the sleeve opening, and the robot body moves forward with the signal wire harness. When the length of the signal wire harness is insufficient, the tension on the movable connecting plate increases, the spring is stretched accordingly, the tension sensor connected to the spring is stressed and emits a signal, and the controller sends a command to the winding device to quickly release the signal wire harness until it returns to the normal state. When the signal wire harness has a surplus length, the signal wire harness does not tension the movable connecting plate, the spring also relaxes, the tension sensor connected to the spring is not stressed, emits a signal, and the controller sends a retraction command to the winding device. The winding device winds up the signal wire harness until the signal wire harness and the spring simultaneously tension the movable connecting plate and return to the original normal state. In this way, the signal wire harness walks synchronously with the robot body.

[0012] The winding device is provided with a length counter for detecting the incoming and outgoing lengths of the signal wire harness, and the length counter is connected to the controller. By measuring the length of the signal wire harness as the robot walks, the position of the robot body can be known.

[0013] Preferably, the robot body is provided with a lighting element and a video recording element. The lighting element and the video recording element are connected to the signal transceiver unit and connected to the controller via the signal wire harness. The controller is provided with a display element for displaying the video. After such a setting, the interior of the pipeline can be illuminated by the lighting element so that the video recording element can obtain the image inside the pipeline, and this image is displayed on the display element, which can facilitate the operator to control the movement of the robot body through the controller and can also conveniently obtain the image information inside the pipeline, which is beneficial for maintenance.

[0014] Preferably, the controller includes a controller body and a manipulator. The controller body is arranged on the winding device, or the controller body is arranged close to the winding device. The manipulator is communicatively connected to the controller body. The signal wire harness and the winding device are connected to the controller body, and the display element is arranged on the manipulator. After such a setting, it is more convenient for the signal wire harness to be connected to the controller body, and the setting of the manipulator can facilitate the operator to control the robot.

[0015] Preferably, the manipulator is wirelessly communicatively connected to the controller body. After such a setting, the control of the robot will be more convenient, and remote control by technicians can also be realized.

[0016] Preferably, a slip ring is arranged on the winding device, and the signal wire harness is connected to the controller through the slip ring. After such a setting, the signal wire harness can be prevented from knotting or even breaking.

[0017] Preferably, a power supply is provided on the robot body and / or a power cord for supplying power to the robot body is integrated in the signal wire harness. The robot body having its own power supply enables it to operate for a period of time without real-time power supply, while the provision of the power cord can improve the endurance of the robot body.

[0018] Preferably, the robot body includes a frame, two first rolling members, two second rolling members, a first driving assembly, a second driving assembly and a steering assembly. A wheel frame is rotatably connected to the first end of the frame. The first rolling member and the first driving assembly are mounted on the wheel frame, and the first driving assembly drives the first rolling member to rotate. The steering assembly is mounted on the frame and drives the wheel frame to rotate. The second rolling member and the second driving assembly are mounted on the second end of the frame, and the second driving assembly drives the second rolling member to rotate. The first end and the second end are in opposite directions. The first driving assembly, the second driving assembly and the steering assembly are connected to the signal transceiver unit. The robot body arranged in this way has a simple structure, four-wheel drive, can ensure the walking power, and has good steering ability. In addition, the four-wheel arrangement can prevent the robot body from walking in the liquid (mud) accumulation area at the bottom of the pipeline.

[0019] Preferably, both the first driving assembly and the second driving assembly include a driving motor and a differential. The output shaft of the driving motor is in transmission connection with the input end of the differential. The output end of the differential corresponding to the first driving assembly is in transmission connection with the first rolling member, and the output end of the differential corresponding to the second driving assembly is in transmission connection with the second rolling member. The steering assembly includes a steering gear, a transmission gear and a transmission gear ring. The transmission gear ring is arranged on the wheel frame, the transmission gear meshes with the transmission gear ring, and the steering gear drives the transmission gear to rotate. The robot body arranged in this way has a simple structure and is conducive to assembly and maintenance.

[0020] Preferably, when the rolling directions of the first rolling member and the second rolling member are parallel to each other, the first rolling member and the second rolling member are arranged in a rectangular array. After being arranged in this way, it can ensure that the robot body walks avoiding the liquid (mud) accumulation area at the bottom of the pipeline, and the robot body walks more steadily.

[0021] Preferably, the first rolling member and the second rolling member are preferably circular magnetic wheels or magnetic crawler wheels. After being arranged in this way, by magnetically adsorbing the pipeline, the climbing ability of the robot body can be improved, and the robot body can also walk upside down and pass through pipelines with flat-vertical transformation. In addition, the robot body can also walk on the outer wall of the pipeline without falling. Further extended, the robot body can also walk on curved metal surfaces such as metal spherical surfaces, with strong versatility.

[0022] Preferably, a rubber layer is provided on the rolling surfaces of the first rolling member and the second rolling member. By providing the rubber layer, functions such as preventing collision damage, increasing friction, facilitating scraping off rust, and heat insulation can be achieved.

[0023] Preferably, the frame includes a first frame body and a second frame body, and the first frame body is rotatably connected to the second frame body; the first rolling member, the first driving assembly, and the steering assembly are arranged on the first frame body, and the second rolling member and the second driving assembly are arranged on the second frame body. After such an arrangement, reliable contact between the four wheels of the robot body and the pipe wall can be ensured, especially when the robot body is in a non-straight state.

[0024] Preferably, the first frame body is connected to the second frame body by bearings. After such an arrangement, the connection between the first frame body and the second frame body is simple and convenient, and the rotation is smooth.

[0025] Preferably, a wire fixing and adjusting assembly for arranging the signal wire harness is provided on the winding device. After such an arrangement, it can be ensured that the signal wire harness is wound and released layer by layer in an orderly manner from left (right) to right (left).

[0026] Preferably, define the diameter of the pipe as D, define the length, width, and height of the robot body as L, W, and H respectively, define the wheel diameter of the first rolling member as d1, define the wheel diameter of the second rolling member as d2, define the distance that the first rolling member extends out of the frame as S1, and define the distance that the second rolling member extends out of the frame as S2, then L < 0.9D, W < 0.5D, H < 0.7D, d1 = d2 < 0.25D, S1 = S2 ≥ 0.25D. After such an arrangement, it can be ensured that the robot body can turn, perform vertical and horizontal conversions, etc. in the pipe, and ensure the walking flexibility and environmental adaptability of the robot body.

[0027] Preferably, at least one of the working devices such as a rust removal device, a painting device, a flaw detection device, and a cleaning device is provided on the robot body. After such an arrangement, during the inspection process of the robot body, if a problem position is found, rust removal, painting, flaw detection, or cleaning operations can be directly performed, improving the maintenance efficiency.

[0028] The utility model has the following beneficial effects:

[0029] 1. The problem that the signal wire harness winds around the robot body will not occur in the utility model, ensuring the reliable walking of the robot body in the pipe. In addition, the signal wire harness is wound by the winding device, and the signal wire harness is not easy to be scattered and knotted, etc., and the storage is more time-saving and labor-saving.

[0030] 2. The robot body of the utility model has good turning, climbing, and vertical and horizontal conversion capabilities in the pipe, and the environmental adaptability of the robot body is stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of Embodiment 1.

[0032] Figure 2 Schematic diagram of the winding device in Embodiment 1.

[0033] Figure 3 Schematic diagram of the tensile force sensing unit in Embodiment 1.

[0034] Figure 4 Schematic diagram of the robot body in Embodiment 1.

[0035] Figure 5 Schematic diagram of another perspective of the robot body in Embodiment 1.

[0036] Figure 6 Schematic diagram of the robot body in Embodiment 1 (the first housing, the second housing, the video recording element, and the lighting element are hidden).

[0037] Figure 7 Schematic diagram of another perspective of the robot body in Embodiment 1 (the first housing, the second housing, the video recording element, and the lighting element are hidden).

[0038] Figure 8 Usage state diagram of the robot body in Embodiment 1.

[0039] Figure 9 Schematic diagram of the robot body in Embodiment 2 (the first housing, the second housing, the video recording element, the lighting element, and the second drive motor are hidden).

[0040] Figure 10 Schematic diagram of another perspective of the robot body in Embodiment 2 (the second drive motor is hidden).

[0041] Description of the main component symbols:

[0042] Winding device 10, slip ring 11, fixed wire adjustment assembly 12, length counter 13, drum 14;

[0043] Signal wire harness 20, buffer section 21, signal transceiver unit 22;

[0044] Controller body 31, controller 32, display element 33;

[0045] Robot body 40, video recording element 41, lighting element 42, first frame 431, second frame 432, wheel frame 433, first outer shell 434, second outer shell 435, bearing 436, first rolling element 44, second rolling element 45, first drive motor 461, first differential 462, second drive motor 471, second differential 472, servo 481, transmission gear 482, transmission gear ring 483;

[0046] Tensile induction unit 49, sleeve 491, tensile sensor 493, spring 494, movable connecting plate 495, rotating ring 496, movable connecting sleeve 497;

[0047] Rust removal device 51, painting device 52;

[0048] Pipeline 60. Specific implementation mode

[0049] In order to make the purpose, technical solutions and advantages of the present utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments.

[0050] Embodiment 1

[0051] As Figure 1-8 shown, this embodiment discloses a pipeline robot, which includes a robot body 40, a signal wire harness 20, a signal transceiver unit 22, a winding device 10 and a controller. The controller includes a controller body 31 and a controller 32, and the controller 32 is communicatively connected to the controller body 31, preferably wirelessly. The signal transceiver unit 22 is provided on the robot body 40 and is used as a signal transfer station provided on the robot body 40. One end of the signal wire harness 20 is connected to the signal transceiver unit 22, and the other end of the signal wire harness 20 is connected to the controller body 31 via the winding device 10.

[0052] The winding device 10 can wind or release the signal wire harness 20, and the controller body 31 is connected to the winding device 10 and controls the operation of the winding device 10. In this case, the winding device 10 can be a winch or other device that can wind a rope. The winding device 10 generally includes a drum 14, a rotating assembly, a slip ring 11 and a wire fixing and adjusting assembly 12. The rotating assembly drives the drum 14 to rotate, and the rotating assembly is connected to the controller body 31. The slip ring 11 is arranged at the central axis position of the drum, and the signal wire harness 20 is connected to the controller body 31 through the slip ring 11, which can prevent the signal wire harness 20 from knotting or even breaking when the drum rotates. The controller body 31 is arranged on the winding device 10, or the controller body 31 is arranged close to the slip ring 11 to facilitate the connection between the controller body 31 and the signal wire harness 20. The wire fixing and adjusting assembly 12 is used to arrange the signal wire harness 20 so that the signal wire harness 20 can be wound on the drum 14 layer by layer from left (right) to right (left) orderly. The winding device 10 can refer to the utility model patents with the patent numbers 201720411509.4 or 201721844718.4. In addition, a length counter 13 is added to the wire fixing and adjusting assembly 12. The encoder of the length counter 13 is connected to the controller body 31 or wirelessly connected to the controller 32. The signal wire harness 20 is released or wound after passing through the length counter 13. In this way, the position of the robot body 40 and the detection arrival position of the pipeline 60 can be known by measuring the winding and unwinding length of the signal wire harness 20.

[0053] A tensile force sensing unit 49 is provided at the rear end of the robot body 40 for sensing the tensile force between the robot body 40 and the signal wire harness 20, so as to better realize the synchronous movement of the robot body 40 walking and the signal wire harness 20. Specifically, the tensile force sensing unit 49 includes a sleeve 491, a tensile force sensor 493, a spring 494, a movable connecting plate 495, a rotating ring 496 and a movable connecting sleeve 497. The sleeve 491 is fixedly connected to the rear end position of the robot body 40, the tensile force sensor 493 is installed at the bottom of the sleeve 491, one end of the spring 494 is connected to the tensile force sensor 493, the other end of the spring 494 is connected to the movable connecting plate 495, the movable connecting plate 495 is placed outside the sleeve 491, and the movable connecting plate 495 cannot extend into the inner cavity of the sleeve 491. The movable connecting sleeve 497 is inserted into the sleeve 491, and the two can slide relative to each other. The movable connecting sleeve 497 is connected to one side of the movable connecting plate 495 close to the sleeve 491, and the rotating ring 496 is rotatably connected to the other side of the movable connecting plate 495 away from the sleeve 491. One end of the signal wire harness 20 connected to the signal transceiver unit 22 has a buffer section 21. One end of the buffer section 21 is connected to the rotating ring 496, the other end of the buffer section 21 is connected to the signal transceiver unit 22. The buffer section 21, that is, the signal wire harness 20, leaves enough length for connecting to the signal transceiver unit 22, and will not pull the connection node between the signal wire harness 20 and the signal transceiver unit 22 due to the expansion and contraction of the tensile force sensing unit 49.

[0054] The rotating ring 496 should preferably not protrude from the robot body 40 to avoid interfering with the movement of the robot body 40. Generally, the robot body 40 moves with the signal wire harness 20, and the spring 494 is slightly stretched. The movable connecting plate 495 is adjacent to the mouth of the sleeve 491. When the moving speed of the robot body 40 is faster than the releasing speed of the rope winding device 10, the spring 494 is tightened, and the movable connecting plate 495 moves away from the sleeve 491. The pulling force sensor 493 behind the spring 494 is stressed and sends a signal to the signal transceiver unit 22. The information unit 201 transmits the signal to the controller body 31 via the signal wire harness 20. The controller body 31 sends the signal to the controller 32, and the controller 32 issues an instruction to the rope winding device 10 to accelerate the release of the signal wire harness 20 until the spring 494 returns to its original state. During this process, the moving speed of the robot body 40 and the rope winding device 10 can automatically coordinate to achieve balance. When the robot body 40 moves in a circular, oblique, or fails to move or moves backward, there will be a surplus in the release of the signal wire harness 20 by the rope winding device 10. The signal wire harness 20 has no pulling force on the movable connecting plate 495, and the spring 494 is not stretched either. The pulling force sensor 493 behind the spring 494 is not stressed and sends a signal to the signal transceiver unit 22. The information unit 201 transmits the signal to the controller body 31 via the signal wire harness 20. The controller body 31 sends the signal to the controller 32, and the controller instructs the rope winding device 10 to accelerate the winding of the signal wire harness until the signal wire harness 20 stretches the movable connecting plate 495 and the forces on the spring 494 and the pulling force sensor 493 return to their original states.

[0055] The robot body 40 is provided with a lighting element 42 and a video recording element 41. The lighting element 42 and the video recording element 41 are connected to the signal transceiver unit 22 and then connected to the controller body 31 via the signal wire harness 20. The controller 32 is provided with a display element 33 for displaying the video. The signal wire harness 20 can transmit the video signal obtained by the video recording element 41 to the controller body 31, and the controller body 31 then forwards it to the controller 32 and displays it on the display element 33. The display element 33 is a display screen, the video recording element 41 is a camera, and the lighting element 42 is a lamp. The controller 32 can be a control handle. The lighting element 42 can also be manually turned on and off so that it is in a constantly on state after entering the pipeline 60. The lighting element 42 can illuminate the inside of the pipeline 60, so as to facilitate the video recording element 41 to obtain the image inside the pipeline 60, and the image is displayed on the display element 33, which can facilitate the operator to control the movement of the robot body 40 through the controller and can also conveniently obtain the image information inside the pipeline 60, which is beneficial for maintenance.

[0056] The robot body 40 includes a frame, two first rolling members 44, two second rolling members 45, a first drive assembly, a second drive assembly, and a steering assembly. The frame includes a first frame body 431, a second frame body 432, a first outer shell 434, and a second outer shell 435. The first frame body 431 is rotatably connected to the second frame body 432, preferably connected by a bearing 436. For example, the first frame body 431 is connected to the outer ring of the crossed roller bearing 436, and the second frame body 432 is connected to the inner ring of the crossed roller bearing 436. After such a setting, the first frame body 431 can rotate left and right relative to the second frame body 432, or the second frame body 432 can rotate left and right relative to the first frame body 431. The first outer shell 434 covers the first frame body 431, and the second outer shell 435 covers the second frame body 432. The first frame body 431 is the first end of the frame, and a wheel frame 433 is rotatably connected to the bottom thereof. The two first rolling members 44 are respectively installed on the left and right sides of the wheel frame 433. The second frame body 432 is the second end of the frame, and the first end and the second end are in opposite directions. The two second rolling members 45 are installed at the bottom of the second frame body 432. A second wheel frame 433 can be fixedly arranged at the bottom of the second frame body 432 to install the second rolling members 45. The distance between the first rolling members 44 can be equal to the distance between the second rolling members 45. That is, when the rolling directions of the first rolling members 44 and the second rolling members 45 are parallel to each other, the first rolling members 44 and the second rolling members 45 are arranged in a rectangular array, thus forming a four-corner supported vehicle frame. The rolling members press against the side wall of the pipeline 60 in the pipeline 60 and are in a raised state relative to the bottom of the pipeline 60, avoiding the accumulation of liquid (mud) at the bottom of the pipeline 60 from affecting the walking of the robot body 40.

[0057] The first rolling members 44 and the second rolling members 45 are circular magnetic wheels, which can adsorb the metal pipeline 60, enabling the robot body 40 to walk reliably and having a strong climbing ability. On the premise of sufficient magnetic force, it can also walk upside down. In addition, it is also beneficial for passing through the pipeline 60 with vertical and horizontal transformation. Of course, as an alternative, the first rolling members 44 and the second rolling members 45 can be magnetic tracks. The adsorption force of the magnetic tracks is stronger, but the steering ability is a bit worse than that of the circular magnetic wheels. The style of the rolling members can be replaced according to the actual use environment. In addition, a rubber layer, such as silica gel, can be provided on the rolling surfaces of the first rolling members 44 and the second rolling members 45 to play roles such as preventing collision damage, increasing friction, facilitating the scraping of rust, and heat insulation.

[0058] The first driving assembly is used to drive the first rolling member 44 to rotate. The first driving assembly is arranged on the wheel carrier 433 and includes a first driving motor 461 and a first differential 462. The output shaft of the first driving motor 461 is drivingly connected to the input end of the first differential 462, and the two output ends of the first differential 462 are respectively drivingly connected to a first rolling member 44. The second driving assembly is used to drive the second rolling member to rotate. The second driving assembly is arranged on the second frame body 432 and includes a second driving motor 471 and a second differential 472. The output shaft of the second driving motor 471 is drivingly connected to the input end of the second differential 472, and the two output ends of the second differential 472 are respectively drivingly connected to a second rolling member 45. The steering assembly is used to drive the wheel carrier 433 (the wheel carrier 433 mounting the first rolling member 44) to rotate and includes a steering gear 481, a transmission gear 482 and a transmission gear ring 483. The transmission gear ring 483 is arranged on the wheel carrier 433 (the wheel carrier 433 mounting the first rolling member 44), the transmission gear 482 meshes with the transmission gear ring 483, and the steering gear 481 drives the transmission gear 482 to rotate. By controlling the rotation of the wheel carrier 433 (the wheel carrier 433 mounting the first rolling member 44), the first rolling member 44 changes the advancing direction to realize the steering of the robot body 40.

[0059] The first driving motor 461, the second driving motor 471 and the steering gear 481 are connected to the signal transceiver unit 22 and then connected to the controller body 31 through the signal wire harness 20 to control the actions of the robot body 40, such as advancing, retreating, steering, etc. In the four-wheel drive mode, the robot body 40 has sufficient power. In addition, a power supply wire for supplying power to the robot body 40 can be integrated in the signal wire harness 20 to improve the endurance of the robot body 40; as an alternative, a power supply (battery) can also be provided on the robot body 40 to ensure that the robot body 40 can still work for a period of time when the power supply wire has no power supply; or, a power supply is provided on the robot body 40 and a power supply wire is also integrated in the signal wire harness 20 to provide a dual power supply guarantee. In addition, since the first frame body 431 is rotatably connected to the second frame body 432, it can be ensured that the four wheels can still reliably contact the inner wall of the pipe during steering, ensuring the reliable and stable walking of the robot body 40.

[0060] In this embodiment, a rust removal device 51 is provided on the second frame body 432 for removing rust from the inner wall of the pipe 60. The rust removal device 51 is connected to the signal transceiver unit 22 and then connected to the controller through the signal wire harness 20.

[0061] In order to ensure that the robot body 40 can turn, perform vertical and horizontal conversions, etc. within the pipeline 60, and to ensure the walking flexibility and environmental adaptability of the robot body 40, the following settings are made: Define the diameter of the pipeline 60 as D, define the length, width, and height of the robot body 40 as L, W, and H respectively, define the wheel diameter of the first rolling member 44 as d1, define the wheel diameter of the second rolling member 45 as d2, define the distance that the first rolling member 44 extends out of the frame as S1, and define the distance that the second rolling member 45 extends out of the frame as S2. Then L < 0.9D, W < 0.5D, H < 0.7D, d1 = d2 < 0.25D, and S1 = S2 ≥ 0.25D.

[0062] The working principle of this embodiment is as follows: After placing the robot body 40 at the inlet of the pipeline 60, turn on the lighting element 42, and then start the video recording element 41. The display element 33 on the operator's controller 32 displays the real-time video to control the robot body 40 to walk within the pipeline 60. While the robot body 40 is walking, it also controls the winding device 10 to synchronously release or wind up the signal wire harness 20 (release the signal wire harness 20 when the robot body 40 moves forward and wind up the signal wire harness 20 when the robot body 40 moves backward). If the robot body 40 walks to a problem position, such as a rusty position on the inner wall of the pipeline 60, control the rust removal device 51 to start for rust removal.

[0063] Embodiment 2

[0064] As Figure 9-10 shown, the difference between this embodiment and Embodiment 1 is that the robot body 40 is not equipped with a rust removal device 51, but is equipped with a painting device 52 for patching the inner wall of the pipe.

[0065] Embodiment 3

[0066] The difference between this embodiment and Embodiment 1 is that the robot body 40 is equipped with a flaw detection device, a cleaning device, or other working devices.

[0067] The above is only a preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A pipeline robot, characterized in that: It includes a robot body, a signal wire harness, a winding device for winding or releasing the signal wire harness, and a controller for controlling the winding device and the robot body. The robot body is provided with a signal transceiver unit. One end of the signal wire harness is connected to the signal transceiver unit, the other end of the signal wire harness is connected to the controller via the winding device, and the controller is connected to the winding device.

2. The pipeline robot according to claim 1, wherein: The robot body is provided with a tensile force sensing unit for sensing the tensile force between the robot body and the signal wire harness, and the tensile force sensing unit is connected to the signal transceiver unit.

3. The pipeline robot according to claim 2, wherein: The tensile force sensing unit includes a sleeve, a tensile force sensor, a spring, a movable connecting sleeve, a movable connecting plate, and a rotating ring. The sleeve is installed on the robot body, the tensile force sensor is installed at the bottom of the sleeve, one end of the spring is connected to the tensile force sensor, and the other end of the spring is connected to the movable connecting plate, and the movable connecting plate is placed outside the sleeve; the movable connecting sleeve is inserted into the sleeve, and the movable connecting sleeve is connected to one side of the movable connecting plate close to the sleeve, and the rotating ring is connected to the side of the movable connecting plate far from the sleeve; one end of the signal wire harness connected to the signal transceiver unit has a buffer section, one end of the buffer section is connected to the rotating ring, and the other end of the buffer section is connected to the signal transceiver unit.

4. The pipeline robot according to claim 1, characterized in that: The winding device is provided with a length counter for detecting the incoming and outgoing length of the signal wire harness, and the length counter is connected to the controller.

5. The pipeline robot according to claim 1, wherein: The robot body is provided with a lighting element and a video recording element, the lighting element and the video recording element are connected to the signal transceiver unit, and the controller is provided with a display element for displaying the video recording.

6. The pipeline robot according to claim 5, characterized in that: The controller includes a controller body and a controller. The controller body is arranged on the winding device, or the controller body is arranged close to the winding device. The controller is communicatively connected to the controller body; the signal wire harness and the winding device are connected to the controller body, and the display element is arranged on the controller.

7. The pipeline robot according to claim 1, wherein: The robot body is provided with a power supply and / or a power cord for supplying power to the robot body is integrated in the signal wire harness; a slip ring is arranged on the winding device, and the signal wire harness is connected to the controller through the slip ring.

8. The pipeline robot according to claim 1, characterized in that: The robot body includes a frame, two first rolling members, two second rolling members, a first driving assembly, a second driving assembly, and a steering assembly. A wheel frame is rotatably connected to the first end of the frame. The first rolling member and the first driving assembly are installed on the wheel frame, and the first driving assembly drives the first rolling member to rotate. The steering assembly is installed on the frame, and the steering assembly drives the wheel frame to rotate; the second rolling member and the second driving assembly are installed at the second end of the frame, and the second driving assembly drives the second rolling member to rotate, and the first end and the second end are in opposite directions; Both the first driving assembly and the second driving assembly include a driving motor and a differential. The driving motor is connected to the signal transceiver unit; the output shaft of the driving motor is drivingly connected to the input end of the differential. The output end of the differential corresponding to the first driving assembly is drivingly connected to the first rolling member, and the output end of the differential corresponding to the second driving assembly is drivingly connected to the second rolling member; The steering assembly includes a steering gear, a transmission gear, and a transmission gear ring. The steering gear is connected to the signal transceiver unit. The transmission gear ring is arranged on the wheel carrier, the transmission gear meshes with the transmission gear ring, and the steering gear drives the transmission gear to rotate.

9. The pipeline robot according to claim 1, characterized in that: A wire fixing and adjusting assembly for tidying up the signal wire harness is provided on the winding device.

10. The pipeline robot according to any one of claims 1-9, characterized in that: At least one of a rust removal device, a painting device, a flaw detection device, and a cleaning device is provided on the robot body.

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