Airflow driving type pipeline robot

Abstract

The utility model discloses an airflow driving type pipeline robot, which comprises a robot body, a power generation mechanism and a tail pushing preventer, a speed measuring element and a controller are arranged on the robot body, and the robot body is driven by fluid to move in a pipeline. The power generation mechanism comprises a plurality of power generation wheels annularly arranged on the periphery of the robot body at intervals, the power generation wheels abut against the pipe wall of the robot body in the pipeline, the multiple power generation wheels are electrically connected with the tail pushing preventer through the controller, the speed measuring element is electrically connected with the controller, and the power generation wheels improve the moving resistance of the robot body in the pipeline during power generation. And the power generation mechanism supplies power to the tail blocking and pushing device, the tail blocking and pushing device is used for further improving the moving resistance of the robot body in the pipeline, the structure is simple, and remarkable deceleration operation in the pipeline can be achieved.

Description

Technical Field

[0001] The utility model belongs to the field of pipeline robots, and in particular relates to an airflow-driven pipeline robot. Background Art

[0002] For pipeline robots used in long-distance natural gas pipelines, they must maintain a relatively slow speed to ensure safe operation during gas delivery. For example, if the gas velocity within a natural gas pipeline is above 10 m / s, the robot's movement speed must be maintained between 2 and 4 m / s. Neither a fast nor a slow movement speed is optimal. Maintaining the robot's speed between 2 and 4 m / s requires a significant resistance to the robot. If the robot relies solely on friction brakes to increase its resistance to movement within the pipeline, the brakes will overheat due to prolonged friction, potentially damaging the equipment and impacting operational safety. Existing power generation mechanisms on pipeline robots primarily utilize the fluid's flow rate to generate power, but their effectiveness in increasing the robot's resistance to movement is limited. For example, the pipeline robots disclosed in CN117588364A, "A Power Generation Device and a Pipeline Robot Equipped with the Device," and CN206398263U, "A Novel Pipeline Robot," both have similar structures, and while generating power, they only reduce the robot's movement speed to a limited extent. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the present utility model is to provide an airflow-driven pipeline robot with a simple structure that can move slowly in a gas pipeline under the impetus of the airflow.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: an airflow-driven pipeline robot, comprising a robot body, a power generation mechanism and a tail thruster, the robot body being provided with a speed measuring element and a controller, the robot body being driven by the fluid in the pipeline to move in the pipeline, the power generation mechanism comprising a plurality of power generation wheels circumferentially spaced around the periphery of the robot body, the power generation wheels being against the pipe wall in the pipeline, the plurality of power generation wheels being electrically connected to the tail thruster through the controller, and the speed measuring element being electrically connected to the controller, the power generation wheels increasing the movement resistance of the robot body in the pipeline when generating electricity, the tail thruster being powered by the power generation mechanism, and being used to further increase the movement resistance of the robot body in the pipeline.

[0005] The beneficial effect of the above technical solution is that: the rotational resistance generated by the generator wheel when generating electricity can be used to increase the resistance of the pipeline robot to move in the pipeline, and the electric energy generated by the generator mechanism is used to provide negative work for the tail thruster to further reduce the movement resistance of the pipeline robot in the pipeline. When the pipeline robot moves too slowly in the pipeline, it indicates that the operating load of the generator mechanism is high and the movement resistance of the pipeline robot is too large. At this time, the controller can disconnect part of the line between the generator wheel and the tail thruster to reduce the movement resistance applied to the pipeline robot by the generator mechanism, so that the pipeline robot can speed up. When the pipeline robot moves too fast in the pipeline, it indicates that the operating load of the generator mechanism is small. At this time, the controller restores the electrical connection between all or part of the generator wheel and the tail thruster to increase the movement resistance of the pipeline robot in the pipeline, so that the pipeline robot can slow down.

[0006] The power generation mechanism in the above technical solution also includes multiple damping mounting frames, and the multiple power generation wheels correspond one-to-one to the multiple mounting frames. The multiple power generation wheels are distributed circumferentially around the robot body, and each power generation wheel is installed on the robot body through the corresponding mounting frame. The mounting frame is used to drive the corresponding power generation wheel to move away from the robot body to collide with the inner wall of the pipe.

[0007] The beneficial effect of the above technical solution is that: in this way, multiple generator wheels can move radially along the robot body under the action of the corresponding mounting frame, and always tend to be against the inner wall of the pipeline. The pipeline robot can adapt to operations on pipelines of different diameters.

[0008] The mounting frame in the above technical solution includes a wheel seat and an elastic member, the generator wheel is installed at one end of the wheel seat, and the other end of the wheel seat is rotatably connected to the robot body, one end of the elastic member is connected to the middle part corresponding to the length direction of the wheel seat, and the other end of the elastic member is connected to the robot body, and the elastic force of the elastic member is used to drive the wheel seat to swing to drive the corresponding generator wheel away from the robot body.

[0009] The beneficial effects of the above technical solution are: its structure is simple, and the wheel seat always tends to be against the inner wall of the pipe under the elastic force of the elastic part, and when the entire pipeline robot is lowered into the pipeline, when the generator wheel is squeezed by the pipeline, the elastic part can be compressed so that multiple generator wheels can retreat to facilitate the pipeline robot to enter the pipeline.

[0010] The above technical solution also includes a braking mechanism, which is arranged on the robot body and electrically connected to the controller. The braking mechanism is used to temporarily slow down the movement speed of the robot body in the pipeline.

[0011] The beneficial effect of the above technical solution is that the entire pipeline robot can be braked and decelerated or braked to a stop by the braking mechanism when moving in the pipeline, which can improve the flexibility of the pipeline robot in moving in the pipeline.

[0012] The braking mechanism in the above technical solution includes multiple telescopic driving members and multiple brake blocks, and the multiple telescopic driving members and the multiple brake blocks correspond to each other one by one. The multiple telescopic driving members are circumferentially spaced on the robot body, and the telescopic ends of the telescopic driving members are radially away from the robot body. The multiple brake blocks are respectively installed at the telescopic ends of the corresponding telescopic driving members. The multiple telescopic driving members are electrically connected to the controller. The multiple telescopic driving members extend synchronously to drive the multiple brake blocks to resist the inner wall of the pipe for braking, or the multiple telescopic driving members contract synchronously to drive the multiple brake blocks to separate from the inner wall of the pipe to release the brake.

[0013] The beneficial effect of the above technical solution is that its structure is simple, so that multiple telescopic drive parts can synchronously drive multiple brake blocks to move against the inner wall of the pipeline for braking, so that the braking force is evenly distributed, thereby making the pipeline robot more stable during braking.

[0014] The robot body in the above technical solution includes a main body and multiple driving leather cups. The main body is a straight bar. The multiple driving leather cups are coaxially arranged on the main body and spaced apart along the length direction of the main body. The speed measuring element, controller and power generation mechanism are all arranged on the main body.

[0015] The beneficial effects of the above technical solution are: its structure is simple, and the driving leather cup on the main body forms an obstruction in the pipeline to hold back the pressure, and the driving leather cup is pushed to move by the fluid in the pipeline, so that the entire pipeline robot moves in the pipeline in the direction of fluid flow.

[0016] The driving leather cup in the above technical solution is provided with a deceleration hole.

[0017] The beneficial effect of the above technical solution is that the fluid in the deceleration hole on the driving leather cup can be used to release pressure, thereby slowing down the moving speed of the pipeline robot in the pipeline relative to the flow rate of the fluid.

[0018] In the above technical solution, there are multiple deceleration holes on the driving leather cup, and the multiple deceleration holes are distributed at intervals in the circumferential direction on the driving leather cup.

[0019] The beneficial effect of the above technical solution is that the pressure relief of the driving leather cup in the annular direction is balanced.

[0020] The tail thruster in the above technical solution includes a drive motor and a propeller. The drive motor is installed at the rear end of the robot body, and the drive end of the drive motor faces backward. The propeller is coaxially fixed on the drive end of the drive motor.

[0021] The beneficial effects of the above technical solution are: its structure is simple, and the drive motor, under the power supply of the power generation mechanism, drives the propeller to rotate and applies backward traction to the robot body, thereby forming movement resistance.

[0022] The above technical solution also includes a brush tube member provided on the robot body. The brush tube member is annular and is used to clean the inner wall of the pipe under the drive of the robot body.

[0023] The beneficial effect of the above technical solution is that: while the pipeline robot moves in the pipeline, it can also brush off the dirt on the inner wall of the pipeline. In addition, the brushing pipe not only cleans the pipe wall of the pipeline, but also increases the movement resistance of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a side view of the airflow-driven pipeline robot according to an embodiment of the present utility model;

[0025] Figure 2 This is a cross-sectional view of the driving cup described in an embodiment of the present utility model;

[0026] Figure 3 This is a rear view of the driving cup in the embodiment of the present utility model;

[0027] Figure 4 This is a schematic diagram of the arrangement of the power generation mechanism on the main body in an embodiment of the present utility model;

[0028] Figure 5 This is a schematic diagram of the arrangement of the braking mechanism on the main body in an embodiment of the present utility model;

[0029] Figure 6 This is a schematic diagram of the arrangement of the brush tube member on the main body in an embodiment of the present utility model;

[0030] Figure 7 This is a front view of the brush tube member described in the embodiment of the present utility model;

[0031] Figure 8This is a schematic diagram of the arrangement of the tail thruster at the rear end of the main body, as described in an embodiment of the present invention. In the figure: 1. Robot body; 11. Main body; 12. Drive cup; 121. Speed reduction hole; 2. Power generation mechanism; 21. Generator wheel; 22. Mounting frame; 221. Wheel seat; 222. Elastic member; 3. Speed measuring element; 4. Controller; 5. Braking mechanism; 51. Telescopic drive member; 52. Brake block; 6. Tail thruster; 61. Drive motor; 62. Propeller; 7. Brush tube; 71. Mounting ring; 711. Inner support ring; 7111. Threaded hole; 712. Outer support ring; 713. Connecting rod; 714. Locking bolt; 72. Brush; 8. Pipe. DETAILED DESCRIPTION

[0032] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples provided are intended only to illustrate the present invention and are not intended to limit the scope of the present invention. The following paragraphs describe the present invention in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description and claims. It should be noted that the drawings are in a very simplified form and are not in exact proportions, and are only used to facilitate and clearly illustrate the embodiments of the present invention.

[0033] like Figure 1As shown, this embodiment provides an airflow-driven pipeline robot, including a robot body 1, a power generation mechanism 2 and a tail thruster 6, the robot body 1 is provided with a speed measuring element 3 and a controller 4, the robot body 1 is driven by the fluid in the pipeline to move in the pipeline, the power generation mechanism 2 includes a plurality of power generation wheels 21 circumferentially spaced around the periphery of the robot body (the number of the power generation wheels can be 3-20, and the specific number is set as needed), the power generation wheels 21 are against the pipe wall in the pipeline, the plurality of power generation wheels 21 are electrically connected to the tail thruster 6 through the controller 4, and the speed measuring element 3 is electrically connected to the controller 4, the power generation wheel 21 increases the movement resistance of the robot body 1 in the pipeline when generating electricity, and the tail thruster 6 is powered by the power generation mechanism 2, which is used to further increase the movement resistance of the robot body 1 in the pipeline, so that the rotation generated when the power generation wheel generates electricity can be utilized The dynamic resistance is used to increase the resistance of the pipeline robot to movement in the pipeline, and the electric energy generated by the power generation mechanism is used to supply the tail thruster with negative work to further reduce the movement resistance of the pipeline robot in the pipeline. When the pipeline robot moves too slowly in the pipeline (below the low-speed threshold), it indicates that the operating load of the power generation mechanism is high and the movement resistance of the pipeline robot is too large. At this time, the controller can disconnect some of the lines between the generator wheels and the tail thruster (that is, the number of generator wheels electrically connected to the tail thruster is reduced) to reduce the movement resistance applied by the generator mechanism to the pipeline robot, thereby enabling the pipeline robot to speed up. When the pipeline robot moves too fast in the pipeline (above the high-speed threshold), it indicates that the operating load of the power generation mechanism is small. At this time, the controller restores the electrical connection between all or part of the generator wheels and the tail thruster (that is, the number of generator wheels electrically connected to the tail thruster is increased) to increase the movement resistance of the pipeline robot in the pipeline, thereby enabling the pipeline robot to slow down.Preferably, the speed measuring element in this embodiment can adopt a speed sensor, which can directly measure the moving speed of the pipeline robot and feed back the speed value to the controller; of course, the speed measuring element in this embodiment can also adopt a voltage measuring element (voltage sensor). In this case, the voltage measuring element is also electrically connected to the output end of the power generation mechanism, so as to measure the real-time voltage value of the electric energy generated by the power generation mechanism. Since the voltage value output by the power generation mechanism is positively correlated with the moving speed of the pipeline robot in the pipeline, when the voltage value output by the power generation mechanism is lower than the voltage low threshold, it indicates that the movement of the pipeline robot in the pipeline is slow. If the resistance is too large (its moving speed is lower than the low-speed threshold), the controller can disconnect part of the lines between the generator wheels and the tail thruster to reduce the moving resistance applied to the pipeline robot by the generator mechanism, so that the pipeline robot can speed up. When the voltage value output by the generator mechanism during the movement of the pipeline robot is higher than the high voltage threshold, it means that the moving resistance of the pipeline robot in the pipeline is too small (its moving speed is higher than the high-speed threshold). At this time, the controller restores all or part of the electrical connection between the generator wheels and the tail thruster to increase the moving resistance of the pipeline robot in the pipeline, so that the pipeline robot can slow down.

[0034] Among them, the high-speed threshold and the low-speed threshold can be considered to be set in advance in the controller, and the high-speed threshold can be set to 4m / s, and the low-speed threshold can be set to 2m / s. Similarly, the high voltage threshold and the low voltage threshold described in this embodiment can be set in advance through the controller, and the moving speed of the robot body corresponding to the high voltage threshold can be 4m / s, and the moving speed of the robot body corresponding to the low voltage threshold can be 2m / s.

[0035] The generator wheel described in this embodiment can adopt an existing hub generator (such as the structure disclosed in the document No. CN104505974B "Hub Generator", of course, a solid tire made of rubber can also be installed on it). When the generator wheel described in this embodiment is electrically connected to the tail thruster, the generator wheel is in a working state and its rotational resistance increases. When the generator wheel is electrically disconnected from the tail thruster, the generator wheel is in a non-working state and its rotational resistance is small (only equivalent to rolling friction with the inner wall of the pipeline).

[0036] In this embodiment, when the controller controls some of the generator wheels to disconnect power, it disconnects any two relatively distributed generator wheels each time, so that the robot body can still maintain stable operation in the pipeline when speeding up (that is, the movement resistance is evenly distributed).

[0037] The controller in this embodiment may be a single chip microcomputer of the ARM series.

[0038] like Figure 1-Figure 3As shown, the robot body 1 in the above technical solution includes a main body 11 and a plurality of driving leather cups 12, the main body 11 is a straight bar (the cross section can be circular), and the plurality of driving leather cups 12 are coaxially arranged on the main body 11 and spaced apart along the length direction of the main body 11. The speed measuring element 3, the controller 4 and the power generation mechanism 2 are all arranged on the main body 11. The structure is simple, and the driving leather cup on the main body forms an obstruction in the pipeline to hold back the pressure, and the driving leather cup is pushed to move by the fluid in the pipeline, so that the entire pipeline robot moves in the pipeline in the direction of the flow of the fluid. The driving leather cup 12 is provided with a deceleration hole 121, so that the fluid in the deceleration hole on the driving leather cup can be used to relieve pressure, thereby slowing down the movement speed of the pipeline robot in the pipeline relative to the flow rate of the fluid. There are multiple deceleration holes 121 on the driving leather cup 12, and the multiple deceleration holes 121 are distributed circumferentially on the driving leather cup 12, so that the driving leather cup can release pressure evenly in the circumferential direction. Preferably, each driving leather cup can be provided with multiple evenly distributed deceleration holes, and the aperture of the deceleration hole is about 2-5 cm. Specifically, the number of deceleration holes on each driving leather cup should not exceed ten.

[0039] like Figure 1 As shown, the front end of the main body in this embodiment can be a cone or arc surface, which can reduce the resistance of the pipeline robot moving in the pipeline, and two driving leather cups can be provided, and the two driving leather cups are provided at both ends of the main body. In this embodiment, the main body has an installation cavity, and the controller and the speed measuring element are both installed in the installation cavity.

[0040] like Figure 1 As shown, the power generation mechanism in this embodiment can be set on the main body and located between the two driving leather cups. Of course, multiple power generation mechanisms can also be set. When multiple power generation mechanisms are set, the multiple power generation mechanisms are distributed at intervals along the front and back directions on the main body.

[0041] like Figure 1 and Figure 4 As shown, the power generation mechanism 2 in the above technical solution also includes a plurality of damping mounting frames 22, and the plurality of power generation wheels 21 correspond one to one with the plurality of mounting frames 22. The plurality of power generation wheels 21 are distributed circumferentially around the robot body 1, and each of the power generation wheels 21 is mounted on the robot body 1 through the corresponding mounting frame 22. The mounting frame 22 is used to drive the corresponding power generation wheel 21 to move away from the robot body 1 to abut against the inner wall of the pipeline. In this way, the plurality of power generation wheels can move radially along the robot body under the action of the corresponding mounting frames, and always tend to abut against the inner wall of the pipeline. The pipeline robot can adapt to operations on pipelines of different diameters.

[0042] See Figure 1 As shown, the mounting frame 22 in the above technical solution includes a wheel seat 221 and an elastic member 222, the generator wheel 21 is mounted on one end of the wheel seat 221, and the other end of the wheel seat 221 is rotatably connected to the robot body 1, one end of the elastic member 222 is connected to the middle part corresponding to the length direction of the wheel seat 221, and the other end of the elastic member 222 is connected to the robot body 1, and the elastic force of the elastic member 222 is used to drive the wheel seat 221 to swing to drive the corresponding generator wheel 21 away from the robot body 1. Its structure is simple, and the wheel seat always tends to be against the inner wall of the pipeline under the elastic force of the elastic member, and when the entire pipeline robot is manually pushed into the pipeline inlet end, when the generator wheel is squeezed by the pipeline, the elastic member can be compressed so that multiple generator wheels can retreat to facilitate the pipeline robot to enter the pipeline.

[0043] Specifically, such as Figure 1 and Figure 4 As shown, a plurality of mounting brackets 22 are distributed circumferentially around the main body, and each wheel seat is rotatably connected to the side wall of the main body at one end away from the generator wheel (it can swing in the front and rear directions), and each elastic member is arranged at the rear of the corresponding wheel seat. The elastic member can be a spring or a gas spring. The end of the elastic member away from the wheel seat is connected to the main body, and the connection between the elastic member and the main body is just behind the connection between the corresponding wheel seat and the column.

[0044] like Figure 1 、 Figure 5 and Figure 6 As shown, the above technical solution also includes a braking mechanism 5, which is arranged on the robot body 1 and electrically connected to the controller 4. The braking mechanism 5 is used to temporarily slow down the movement speed of the robot body 1 in the pipeline 8, so that the entire pipeline robot can also be braked and decelerated by the braking mechanism when moving in the pipeline, which can improve the flexibility of the pipeline robot in moving in the pipeline.

[0045] The braking mechanism 5 in the above technical solution includes multiple telescopic driving members 51 and multiple brake blocks 52, and the multiple telescopic driving members 51 and the multiple brake blocks 52 correspond to each other one by one. The multiple telescopic driving members 51 are circumferentially spaced on the robot body 1, and the telescopic ends of the telescopic driving members 51 are radially away from the robot body 1. The multiple brake blocks 52 are respectively installed at the telescopic ends of the corresponding telescopic driving members 51. The multiple telescopic driving members 51 are electrically connected to the controller 4. The multiple telescopic driving members 51 are synchronously extended to drive the multiple brake blocks 52 to abut against the inner wall of the pipe for braking, or the multiple telescopic driving members 51 are synchronously contracted to drive the multiple brake blocks 52 to separate from the inner wall of the pipe to release the brake. Its structure is simple, so that the multiple telescopic driving members can synchronously drive the multiple brake blocks to move to abut against the inner wall of the pipe 8 for braking, so that the braking force is evenly distributed, so that the pipeline robot has good stability during braking.

[0046] In this embodiment, the telescopic driving member can adopt an electromagnetic push rod, and at least two telescopic driving members and brake blocks are provided (preferably, four telescopic driving members and brake blocks are provided), and multiple telescopic driving members can be embedded in the main body, and their telescopic ends extend out of the main body (and the penetration point needs to be waterproofed, and the waterproofing method can be similar to the waterproof structure of the end of the hydraulic cylinder body for the telescopic rod to penetrate, which belongs to the existing technology and will not be described here), and multiple telescopic driving members are arranged on the main body with uniform circumferential spacing, and a layer of rubber layer can be provided on the end of the brake block away from the main body to increase the friction between the brake block and the inner wall of the pipe 8 (specifically, the rubber layer can be similar to the material on the car tire, and grooves can be provided thereon to form a friction surface), and at the same time, it can also prevent the brake block from causing scratches on the inner wall of the pipe.

[0047] like Figure 8 As shown, the tail thruster 6 in the above technical solution includes a drive motor 61 and a propeller 62. The drive motor 61 is installed at the rear end of the robot body 1, and the drive end of the drive motor 61 faces backward. The propeller 62 is coaxially fixedly installed on the drive end of the drive motor 61. Its structure is simple, and the drive motor, under the power supply of the power generation mechanism, drives the propeller to rotate and applies backward traction to the robot body, thereby forming a moving resistance. The drive motor is electrically connected to the controller. In this embodiment, the drive motor can be embedded inside the rear end of the body, and its drive end coaxially passes through the outside of the body. The propeller is coaxially fixedly installed on the drive end of the drive motor. The drive motor can be a motor with good waterproof and explosion-proof performance.

[0048] like Figure 6 and Figure 7As shown, the above technical solution also includes a brush tube 7 arranged on the robot body 1. The brush tube 7 is annular and is used to clean the inner wall of the pipe under the drive of the robot body 1. In this way, the pipeline robot can move in the pipe while it can also brush the dirt on the inner wall of the pipe. In addition, the brush tube cleans the pipe wall and can also increase the movement resistance of the robot body. The brush tube 7 includes a hollow mounting ring 71 and bristles 72. The mounting ring is annular and has a hollow structure. It is coaxially mounted on the main body, and the bristles 72 are evenly distributed on the outer wall of the mounting ring. Specifically, the mounting ring 71 includes an inner support ring 711, an outer support ring and a plurality of connecting rods 713, the inner support ring 711 is coaxially placed in the outer support ring 712, and there is a gap between the two, and the plurality of connecting rods are placed between the inner support ring and the outer support ring at intervals along the annular direction, and the two ends of each connecting rod are respectively connected to the inner support ring and the outer support ring, the bristles are evenly distributed on the outer wall of the outer support ring, and the inner support ring is coaxially mounted on the main body; specifically, the inner support ring in this embodiment can be detachable The disassembly installation method is installed at the front end of the main body, so that the brush tube can be replaced on the main body (the bristles of the brush tube will be deformed after being used for a period of time. When the deformation is serious, you can consider replacing it with a new brush tube). Specifically, a plurality of radially penetrating threaded holes 7111 can be arranged on the support ring at annular intervals, and a locking bolt 714 can be threadedly connected to each threaded hole, and the threaded end of the locking bolt faces the main body. Tighten the multiple locking bolts to fasten the inner support ring to the main body. Preferably, 3-5 locking bolts can be provided.

[0049] In this embodiment, the electric energy generated by the generator wheel is cleverly and directly utilized to directly operate the tail thruster, so as to increase the movement resistance of the pipeline robot in the pipeline, thereby significantly slowing down the movement speed of the pipeline robot in the pipeline relative to the speed of the fluid. In addition, no battery is provided in this application to store the electric energy generated by the generator mechanism. The main reason is that the power generation voltage of the power generation mechanism is unstable, and there are safety risks in charging the battery.

[0050] Even more ingenious is that the generator wheel can avoid the huge operational risks caused by pressure buildup and ejection during pipeline cleaning and internal inspection operations, thus cleverly solving this industry problem that has long plagued gas pipelines. If the pipeline robot is held under pressure for a long time, it will cause an excessively large pressure differential between the front and rear of the robot. Once it is freed, the violent ejection effect will cause it to run at high speed and over long distances, damaging the pipeline robot and even the pipeline. When the pipeline robot becomes stuck in the pipeline, the generator wheel will suddenly slow down and stop generating electricity. The reverse thrust of the generator wheel's power generation process suddenly disappears, and the thrust originally used for power generation quickly acts on the stuck point, so that there is no stagnation causing pipeline pressure buildup, or only a brief stagnation causing a short period of pipeline pressure buildup, ensuring that there will be no violent ejection problems caused by severe pressure buildup.

[0051] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Any ordinary technician in this industry can smoothly implement the present invention as shown in the drawings and described above. However, any equivalent changes, modifications and evolutions made by technicians familiar with this profession without departing from the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention. At the same time, any equivalent changes, modifications and evolutions made to the above embodiments based on the essential technology of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. An airflow driven pipeline robot, characterized in that: The invention comprises a robot body (1), a power generation mechanism (2) and a tail thruster (6). The robot body (1) is provided with a speed measuring element (3) and a controller (4). The robot body (1) is driven by a fluid in a pipeline to move in the pipeline. The power generation mechanism (2) comprises a plurality of power generation wheels (21) arranged at intervals around the periphery of the robot body. The power generation wheels (21) are against the pipe wall in the pipeline. The plurality of power generation wheels (21) are electrically connected to the tail thruster (6) through the controller (4), and the speed measuring element (3) is electrically connected to the controller (4). The power generation wheels (21) increase the movement resistance of the robot body (1) in the pipeline when generating electricity. The tail thruster (6) is powered by the power generation mechanism (2) and is used to further increase the movement resistance of the robot body (1) in the pipeline.

2. The airflow-driven pipeline robot according to claim 1, characterized in that: The power generation mechanism (2) further comprises a plurality of damping mounting frames (22), the plurality of power generation wheels (21) corresponding to the plurality of mounting frames (22) on a one-to-one basis, the plurality of power generation wheels (21) being distributed circumferentially around the robot body (1) at intervals, and each power generation wheel (21) being mounted on the robot body (1) via a corresponding mounting frame (22), and the mounting frame (22) being used to drive the corresponding power generation wheel (21) to move away from the robot body (1) so as to abut against the inner wall of the pipe.

3. The airflow-driven pipeline robot according to claim 2, characterized in that: The mounting frame (22) includes a wheel seat (221) and an elastic member (222), the generator wheel (21) is mounted on one end of the wheel seat (221), the other end of the wheel seat (221) is rotatably connected to the robot body (1), one end of the elastic member (222) is connected to the middle portion corresponding to the length direction of the wheel seat (221), and the other end of the elastic member (222) is connected to the robot body (1), and the elastic force of the elastic member (222) is used to drive the wheel seat (221) to swing and drive the corresponding generator wheel (21) away from the robot body (1).

4. The airflow-driven pipeline robot according to claim 1, characterized in that: The invention also includes a braking mechanism (5), which is arranged on the robot body (1) and electrically connected to the controller (4). The braking mechanism (5) is used to temporarily slow down the movement speed of the robot body (1) in the pipeline.

5. The airflow driven pipeline robot according to claim 4, characterized in that: The braking mechanism (5) includes a plurality of telescopic driving members (51) and a plurality of brake blocks (52), wherein the plurality of telescopic driving members (51) and the plurality of brake blocks (52) correspond to each other one by one, the plurality of telescopic driving members (51) are arranged on the robot body (1) at an annular interval, and the telescopic ends of the telescopic driving members (51) are radially away from the robot body (1), the plurality of brake blocks (52) are respectively installed at the telescopic ends of the corresponding telescopic driving members (51), the plurality of telescopic driving members (51) are electrically connected to the controller (4), the plurality of telescopic driving members (51) are synchronously extended to drive the plurality of brake blocks (52) to abut against the inner wall of the pipe to brake, or the plurality of telescopic driving members (51) are synchronously contracted to drive the plurality of brake blocks (52) to separate from the inner wall of the pipe to release the brake.

6. The airflow driven pipeline robot according to claim 1, characterized in that: The robot body (1) comprises a main body (11) and a plurality of driving leather cups (12); the main body (11) is in the shape of a straight bar; the plurality of driving leather cups (12) are coaxially arranged on the main body (11) and spaced apart along the length direction of the main body (11); the speed measuring element (3), the controller (4) and the power generation mechanism (2) are all arranged on the main body (11).

7. The airflow driven pipeline robot according to claim 6, characterized in that: The driving leather cup (12) is provided with a deceleration hole (121).

8. The airflow driven pipeline robot according to claim 7, characterized in that: A plurality of deceleration holes (121) are provided on the driving leather cup (12), and the plurality of deceleration holes (121) are distributed circumferentially and spaced apart on the driving leather cup (12).

9. The airflow driven pipeline robot according to claim 8, characterized in that: The tail thruster (6) comprises a drive motor (61) and a propeller (62), wherein the drive motor (61) is mounted at the rear end of the robot body (1), with the drive end of the drive motor (61) facing backward, and the propeller (62) is coaxially fixedly mounted on the drive end of the drive motor (61).

10. The airflow driven pipeline robot according to claim 1, characterized in that: It also includes a brush pipe member (7) arranged on the robot body (1), the brush pipe member (7) being annular and used for cleaning the inner wall of the pipeline under the drive of the robot body (1).

Images