Pipeline walking robot

Abstract

The utility model relates to a pipeline walking robot which comprises a machine frame, two first magnetic wheels, two second magnetic wheels, a first driving assembly, a second driving assembly and a steering assembly, the machine frame comprises a first frame body and a second frame body, and the first frame body is rotationally connected with the second frame body; the first frame body is rotationally connected with a wheel frame, the first magnetic wheel and the first driving assembly are installed on the wheel frame, the first driving assembly drives the first magnetic wheel to rotate, and the steering assembly drives the wheel frame to rotate; the second magnetic wheel and the second driving assembly are arranged on the second frame body, and the second driving assembly drives the second magnetic wheel to rotate. The robot disclosed by the utility model can walk in a narrow space or on objects with complicated and variable surfaces, has good steering, climbing and transverse and vertical conversion capabilities, and is flexible in walking and high in environmental adaptability.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline operation equipment, in particular to a pipeline walking 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 are usually required before the pipelines are installed and concealed. During daily use, inspections and maintenance of the pipeline inner wall and the pipeline are also needed. 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 destroy 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 a small diameter (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 exchanges of different pipe diameters, turning, uphill and downhill, and vertical and horizontal alternations. Most of the existing pipeline walking robots are only suitable for operating on horizontal and straight pipelines, but turning, climbing slopes, and horizontal-vertical conversion are inconvenient or even impossible to achieve. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a pipeline walking robot that can flexibly turn, climb slopes, circle, and perform horizontal-vertical conversion in the pipeline.

[0005] To achieve the above purpose, the utility model discloses a pipeline walking robot, which includes a frame, two first magnetic wheels, two second magnetic wheels, a first driving component, a second driving component, and a steering component. 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; a wheel frame is rotatably connected to the first frame body, the first magnetic wheel and the first driving component are installed on the wheel frame, and the first driving component drives the first magnetic wheel to rotate, and the steering component drives the wheel frame to rotate; the second magnetic wheel and the second driving component are arranged on the second frame body, and the second driving component drives the second magnetic wheel to rotate.

[0006] Taking the example of a robot walking inside a pipeline, with the above settings, two frames (the first frame and the second frame) are rotationally connected to form a frame. When the magnetic wheel (the first magnetic wheel or the second magnetic wheel) on either frame touches and adheres to a new walking surface (usually during turning), that frame rotates accordingly, and the bottom elevation of the magnetic wheel on that frame also changes, causing a change in the walking posture of the robot, thus overcoming the problems of parking for direction change and direction change in narrow spaces. Because the bottom elevation of the magnetic wheel changes with turning, the posture of the robot makes an adaptive adjustment, further ensuring that the magnetic wheel can reliably contact and adhere to the inner wall of the pipe, ensuring the stable and reliable walking of the robot. Additionally, because the magnetic wheel adheres to the metal pipeline, the climbing ability of the robot is improved. On the premise that the magnetic force of the magnetic wheel is sufficient, the robot can also walk upside down. Moreover, because the magnetic wheel of the robot adheres to the metal pipeline, the robot can also walk around the pipe wall and smoothly pass through pipes with flat-to-vertical transitions. Of course, the bottom elevation of the magnetic wheel of the robot of the present utility model can automatically change with the contacting surface and can also be applicable to object devices with complex external changes, such as the outer shell of a ship, the inner and outer surfaces of a spherical tank, the surfaces of different facades or steel buildings and structures with alternating flat and vertical sections, etc.

[0007] Preferably, the first frame and the second frame are connected by bearings or pin shafts or universal joints. With such a setting, the connection between the first frame and the second frame is simple and convenient, and the rotation is smooth.

[0008] Preferably, both the first frame and the second frame include a flat plate and a vertical plate. One end of the flat plate is connected to one end of the vertical plate to form an L-shaped structure; the vertical plates corresponding to the first frame and the second frame are parallel to each other and rotationally connected; when the rolling directions of the first magnetic wheel and the second magnetic wheel are parallel to each other, the flat plates corresponding to the first frame and the second frame are in the same plane; the wheel frame is rotationally connected to the flat plate corresponding to the first frame, and the second magnetic wheel and the second driving assembly are arranged on the flat plate corresponding to the second frame. The frame structure set in this way is simple and convenient for assembly.

[0009] Preferably, it further includes a tie rod for strengthening the flat plate and the vertical plate. Such a setting can ensure the structural stability of the frame.

[0010] 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 magnetic wheel, and the output end of the differential corresponding to the second driving assembly is in transmission connection with the second magnetic wheel; 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 structure set in this way is simple and conducive to assembly and maintenance.

[0011] Preferably, when the rolling directions of the first magnetic wheel and the second magnetic wheel are parallel to each other, the first magnetic wheel and the second magnetic wheel are arranged in a rectangular array. After such a setting, it can ensure that the robot walks avoiding the liquid (mud) accumulation area at the bottom of the pipeline, and the robot walks more steadily.

[0012] Preferably, a rubber layer is provided on the rolling surfaces of the first magnetic wheel and the second magnetic wheel, and the thickness of the rubber layer is not greater than 1.5 mm. Through the above setting, while ensuring the magnetic attraction of the magnetic wheel, it can also play roles such as preventing collision damage, increasing friction, facilitating scraping off rust, and heat insulation.

[0013] Preferably, define the diameter of the pipeline as D, and define the length, width, and height of the frame as L, W, and H respectively, then L < 0.9D, W < 0.5D, H < 0.7D. After such a setting, it can ensure that the robot can turn, perform horizontal-vertical conversion, etc. inside the pipeline, and ensure the walking flexibility and environmental adaptability of the robot.

[0014] Preferably, define the diameter of the pipeline as D, and define the length, width, and height of the frame as L, W, and H respectively, define the wheel diameter of the first magnetic wheel as d1, define the wheel diameter of the second magnetic wheel as d2, define the vertical distance of the first magnetic wheel extending out of the frame as S1, define the vertical distance of the second magnetic wheel extending out of the frame as S2, define the horizontal distance of the first magnetic wheel extending out of the frame as M1, define the horizontal distance of the second magnetic wheel extending out of the frame as M2, then L < 0.9D, W < 0.5D, H < 0.7D, d1 = d2 < 0.25D, S1 = S2 ≥ 0.25D, M1 = M2 ≥ 0.1d1. After such a setting, it can ensure that the robot can turn, switch between internal and external corners, perform horizontal-vertical conversion, etc. inside the pipeline, and ensure the walking flexibility and environmental adaptability of the robot.

[0015] Preferably, it further includes a controller. A display element is provided on the controller, and a lighting element and a video recording element are also provided on the frame. The lighting element, the video recording element, the first driving component, the second driving component, and the steering component are connected to the controller. After such a setting, the inside of the pipeline can be illuminated by the lighting element, the video recording element can reliably collect the images inside the pipeline, and the operator can control the actions of the first driving component, the second driving component, and the steering component by displaying the images fed back by the video recording element through the display element, so as to realize the walking control of the robot.

[0016] Preferably, at least one of a rust removal device, a painting device, a flaw detection device, and a cleaning device is provided on the frame. After such a setting, during the inspection process of the robot, if a problem position is found, rust removal, painting, flaw detection, or cleaning can be directly carried out, improving the maintenance efficiency.

[0017] The utility model has the following beneficial effects:

[0018] The robot of the utility model can walk in narrow and dark spaces or on objects with complex surface changes, and has good abilities of steering, climbing slopes, vertical and horizontal conversion, and switching between inner and outer corners of a wall. It walks flexibly and has strong environmental adaptability. Brief Description of the Drawings

[0019] Figure 1 It is a schematic diagram of the robot in the first embodiment.

[0020] Figure 2 It is a schematic diagram of the robot in the first embodiment from another perspective.

[0021] Figure 3 It is a schematic diagram of the robot in the first embodiment (the first housing, the second housing, the video recording element, and the lighting element are hidden).

[0022] Figure 4 It is a schematic diagram of the robot in the first embodiment from another perspective (the first housing, the second housing, the video recording element, and the lighting element are hidden).

[0023] Figure 5 It is a usage state diagram of the robot in the first embodiment.

[0024] Figure 6 It is a schematic diagram of the robot in the fourth embodiment (the first housing, the second housing, the video recording element, the lighting element, and the second drive motor are hidden).

[0025] Figure 7 It is a schematic diagram of the robot in the fourth embodiment from another perspective (the second drive motor is hidden).

[0026] Figure 8 It is a schematic diagram of the robot in the fifth embodiment.

[0027] Explanation of the symbols of the main components:

[0028] Video recording element 11, lighting element 12, first frame body 131, second frame body 132, wheel frame 133, first outer shell 134, second outer shell 135, bearing 136, flat plate 137, vertical plate 138, tie rod 139, first magnetic wheel 14, second magnetic wheel 15, first drive motor 161, first differential 162, second drive motor 171, second differential 172, servo 181, transmission gear 182, transmission gear ring 183;

[0029] Rust removal device 21, painting device 22;

[0030] Pipeline 30. Detailed Description of the Embodiments

[0031] In order to make the purpose, technical solutions and advantages of the utility model more clear and understandable, the following further details the utility model in conjunction with the drawings and embodiments.

[0032] Embodiment 1

[0033] As Figures 1-5 shown, this embodiment discloses a pipeline walking robot, which includes a frame, two first magnetic wheels 14, two second magnetic wheels 15, a first driving component, a second driving component and a steering component. The frame includes a first frame body 131, a second frame body 132, a first outer shell 134 and a second outer shell 135. The first frame body 131 is rotatably connected to the second frame body 132, preferably connected by a bearing 136. Specifically, both the first frame body 131 and the second frame body 132 include a flat plate 137, a vertical plate 138 and a tie rod 139. One end of the flat plate 137 is connected to one end of the vertical plate 138 to form an L-shaped structure, and the tie rod 139 connects the flat plate 137 and the vertical plate 138 on both sides of the frame body to play a reinforcing role. The vertical plate 138 corresponding to the first frame body 131 is parallel to the vertical plate 138 corresponding to the second frame body 132. The vertical plate 138 corresponding to the first frame body 131 is connected to the outer ring of the crossed roller bearing 136, and the vertical plate 138 corresponding to the second frame body 132 is connected to the inner ring of the crossed roller bearing 136. After such a setting, the first frame body 131 can rotate relative to the second frame body 132, or rather the second frame body 132 can rotate relative to the first frame body 131. Rotating the first frame body 131, the corresponding flat plate 137 thereof can be in the same plane as the flat plate 137 corresponding to the second frame body 132 (that is, when the rolling directions of the first magnetic wheels 14 and the second magnetic wheels 15 are parallel to each other, the flat plate 137 corresponding to the first frame body 131 and the flat plate 137 corresponding to the second frame body 132 are in the same plane).

[0034] The first outer shell 134 covers the first frame body 131, and the second outer shell 135 covers the second frame body 132, which is used to form an installation space and play a role in dust prevention at the same time. A wheel frame 133 is rotatably connected to the flat plate 137 corresponding to the first frame body 131, and the two first magnetic wheels 14 are respectively installed on the left and right sides of the wheel frame 133. The two second magnetic wheels 15 are installed on the flat plate 137 corresponding to the second frame body 132. A second wheel frame 133 can be fixedly arranged at the bottom of the second frame body 132 to install the second magnetic wheels 15. The distance between the first magnetic wheels 14 can be equal to the distance between the second magnetic wheels 15, that is, when the rolling directions of the first magnetic wheels 14 and the second magnetic wheels 15 are parallel to each other, the first magnetic wheels 14 and the second magnetic wheels 15 are arranged in a rectangular array, thus forming a four-corner supported vehicle frame. The magnetic wheels press against the side wall of the pipeline 30 in the pipeline 30 and are in a raised state relative to the bottom of the pipeline 30, avoiding the influence of liquid (mud) accumulation at the bottom of the pipeline 30 on the walking of the robot.

[0035] The first magnetic wheel 14 and the second magnetic wheel 15 adsorb the wall surface of the metal pipeline 30, enabling the robot to walk reliably and have the ability to climb slopes. On the premise of sufficient magnetic force, it can also achieve inverted walking and circumferential walking. In addition, it is also beneficial for passing through the pipeline 30 with vertical and horizontal transformation. Additionally, a rubber layer, such as silica gel, can be provided on the rolling surfaces of the first magnetic wheel 14 and the second magnetic wheel 15 to play roles such as preventing collision damage, increasing friction, facilitating scraping off rust, and heat insulation. The thickness of the rubber layer is preferably not greater than 1.5 mm to avoid weakening the magnetic attraction of the magnetic wheel.

[0036] The first drive assembly is used to drive the first magnetic wheel 14 to rotate. The first drive assembly is arranged on the wheel frame 133. The first drive assembly includes a first drive motor 161 and a first differential 162. The output shaft of the first drive motor 161 is in transmission connection with the input end of the first differential 162. The two output ends of the first differential 162 are respectively in transmission connection with a first magnetic wheel 14. The second drive assembly is used to drive the second rolling to rotate. The second drive assembly is arranged on the second frame body 132. The second drive assembly includes a second drive motor 171 and a second differential 172. The output shaft of the second drive motor 171 is in transmission connection with the input end of the second differential 172. The two output ends of the second differential 172 are respectively in transmission connection with a second magnetic wheel 15. The steering assembly is used to drive the wheel frame 133 (the wheel frame 133 mounting the first magnetic wheel 14) to rotate. It includes a steering gear 181, a transmission gear 182, and a transmission gear ring 183. The transmission gear ring 183 is arranged on the wheel frame 133 (the wheel frame 133 mounting the first magnetic wheel 14). The transmission gear 182 meshes with the transmission gear ring 183. The steering gear 181 drives the transmission gear 182 to rotate. By controlling the rotation of the wheel frame 133 (the wheel frame 133 mounting the first magnetic wheel 14), the first magnetic wheel 14 changes the forward direction to achieve the steering of the robot.

[0037] The first drive motor 161, the second drive motor 171, and the steering gear 181 are connected to the controller via signal lines to control the actions of the robot, such as moving forward, backward, and turning. In the four-wheel drive mode, the robot has sufficient power. Additionally, a power cord for supplying power to the robot can be integrated in the signal line to improve the endurance of the robot; as an alternative, a power source (battery) can also be set on the robot to ensure that the robot can still work for a period of time when the power cord has no power supply; or, a power source is set on the robot, and at the same time, a power cord is integrated in the signal line to provide dual power supply guarantee. In addition, since the first frame body 131 is rotatably connected to the second frame body 132, it can ensure 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.

[0038] To ensure that the robot can turn, switch between horizontal and vertical directions, and switch between internal and external corners of the pipe 30, and to ensure the walking flexibility and environmental adaptability of the robot, the following settings are made: Define the diameter of the pipe 30 as D, define the length, width, and height of the robot as L, W, and H respectively, define the wheel diameter of the first magnetic wheel 14 as d1, define the wheel diameter of the second magnetic wheel 15 as d2, define the vertical distance from the first magnetic wheel 14 extending out of the frame as S1, define the vertical distance from the second magnetic wheel 15 extending out of the frame as S2, define the horizontal distance from the first magnetic wheel 14 extending out of the first housing 134 as M1, and define the horizontal distance from the second magnetic wheel 15 extending out of the second housing 135 as M2. Then L < 0.9D, W < 0.5D, H < 0.7D, d1 = d2 < 0.25D, S1 = S2 ≥ 0.25D, M1 = M2 ≥ 0.1d1.

[0039] To facilitate the control of the robot's walking, a controller is set up. In addition, a lighting element 12 and a video recording element 11 are provided on the robot. The lighting element 12 and the video recording element 11 are connected to the controller via signal lines. A display element for displaying the video is provided on the controller. The first drive motor 161, the second drive motor 171, the servo 181, and the video recording element 11 are connected to the controller via a wire harness to transmit the video signal obtained by the video recording element 11 to the controller and display it on the display element. The display element is a display screen, the video recording element 11 is a camera, and the lighting element 12 is a lamp. The controller can be a control handle. The on / off of the lighting element 12 can be manually operated to make it in a constantly on state after entering the pipe 30. The interior of the pipe 30 can be illuminated by the lighting element 12 so that the video recording element 11 can obtain the image inside the pipe 30, and this image is displayed on the display element, which can facilitate the operator to control the robot's walking through the controller and can also conveniently obtain the image information inside the pipe 30, which is beneficial for maintenance.

[0040] As an application scenario, in this embodiment, a rust removal device 21 is provided on the second frame 132 for rust removal of the inner wall of the pipe 30. The rust removal device 21 is connected to the controller via a signal line.

[0041] Embodiment Two

[0042] The difference between this embodiment and Embodiment One is that the connection between the corresponding vertical plates 138 of the first frame 131 and the second frame 132 is connected by a universal joint. The first frame 131 and the second frame 132 can rotate on the vertical plane and can also swing in the front and back directions. The bottom of the magnetic wheels of the robot can be spatially transposed, the walking surface of the robot can be more complex, and the walking range of the robot can be wider.

[0043] Embodiment Three

[0044] The difference between this embodiment and the first embodiment is that the connection between the corresponding vertical plates 138 of the first frame body 131 and the second frame body 132 is connected by a pin shaft. Pin holes are provided on the corresponding vertical plates 138 of the first frame body 131 and the second frame body 132, and the pin shaft passes through these two pin holes, thereby realizing the rotational connection between the first frame body 131 and the second frame body 132.

[0045] Embodiment Four

[0046] As Figures 6-7 shown, the difference between this embodiment and the first embodiment is that the rust removal device 21 is not mounted on the robot, but a painting device 22 is mounted for patching the inner wall of the pipe.

[0047] Embodiment Five

[0048] As Figure 8 shown, on the basis of the first embodiment, a painting device 22 is also mounted on the robot for patching the inner wall of the pipe.

[0049] Embodiment Six

[0050] The difference between this embodiment and the first embodiment is that the robot is equipped with a flaw detection device or a cleaning device or other working devices.

[0051] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A pipeline walking robot, characterized in that: It includes a frame, two first magnetic wheels, two second magnetic wheels, a first drive assembly, a second drive assembly and a steering assembly. 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; a wheel frame is rotatably connected to the first frame body, the first magnetic wheel and the first drive assembly are installed on the wheel frame, and the first drive assembly drives the first magnetic wheel to rotate, and the steering assembly drives the wheel frame to rotate; the second magnetic wheel and the second drive assembly are arranged on the second frame body, and the second drive assembly drives the second magnetic wheel to rotate.

2. The pipeline walking robot according to claim 1, wherein: The first frame body is connected to the second frame body by a bearing connection, a pin shaft connection or a universal joint connection.

3. The pipeline walking robot according to claim 1 or 2, characterized in that: Both the first frame body and the second frame body include a flat plate and a vertical plate, and one end of the flat plate is connected to one end of the vertical plate to form an L-shaped structure; the vertical plates corresponding to the first frame body and the second frame body are parallel to each other and rotatably connected; when the rolling directions of the first magnetic wheel and the second magnetic wheel are parallel to each other, the flat plates corresponding to the first frame body and the second frame body are on the same plane; the wheel frame is rotatably connected to the flat plate corresponding to the first frame body, and the second magnetic wheel and the second drive assembly are arranged on the flat plate corresponding to the second frame body.

4. The pipeline walking robot according to claim 3, wherein: It further includes a tie rod for strengthening the flat plate and the vertical plate.

5. The pipeline walking robot according to claim 1, wherein: Both the first drive assembly and the second drive assembly include a drive motor and a differential. The output shaft of the drive motor is drivingly connected to the input end of the differential. The output end of the differential corresponding to the first drive assembly is drivingly connected to the first magnetic wheel, and the output end of the differential corresponding to the second drive assembly is drivingly connected to the second magnetic wheel; 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.

6. The pipeline walking robot according to claim 1, characterized in that: When the rolling directions of the first magnetic wheel and the second magnetic wheel are parallel to each other, the first magnetic wheel and the second magnetic wheel are arranged in a rectangular array.

7. The pipeline walking robot according to claim 1, characterized in that: A rubber layer is provided on the rolling surfaces of the first magnetic wheel and the second magnetic wheel, and the thickness of the rubber layer is not greater than 1.5 mm.

8. The pipeline walking robot according to claim 1, wherein: Define the diameter of the pipeline as D, define the length, width and height of the frame as L, W, H respectively, define the wheel diameter of the first magnetic wheel as d1, define the wheel diameter of the second magnetic wheel as d2, define the vertical distance of the first magnetic wheel extending out of the frame as S1, define the vertical distance of the second magnetic wheel extending out of the frame as S2, define the horizontal distance of the first magnetic wheel extending out of the frame as M1, define the horizontal distance of the second magnetic wheel extending out of the frame as M2, then L < 0.9D, W < 0.5D, H < 0.7D, d1 = d2 < 0.25D, S1 = S2 ≥ 0.25D, M1 = M2 ≥ 0.1d1.

9. The pipeline walking robot according to claim 1, characterized in that: It further includes a controller. A display element is provided on the controller. An illumination element and a video recording element are also provided on the frame. The illumination element, the video recording element, the first drive assembly, the second drive assembly and the steering assembly are connected to the controller.

10. The pipeline walking robot according to claim 1, 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 frame.

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