Chain type pipeline robot with reducing function

Abstract

The utility model belongs to the technical field of pipeline internal detection, and particularly relates to a chained pipeline robot with a reducing function, which comprises a robot main body and a remote control end, driving mechanisms are arranged on the front side and the rear side of the robot main body, and the lower end of a motor base is fixedly connected to the robot main body through screws. The upper end of the motor base is fixedly provided with one end of a telescopic motor, the telescopic motor achieves the diameter changing function of the pipeline robot and can be suitable for pipelines of various diameters, the motor is installed on the driving assembly located on the front side of the robot body, and the motor is fixedly installed on a telescopic motor connecting piece. An output shaft of the motor is fixedly connected with the driving shaft and used for driving the wheels to rotate, and the controller is connected with the remote control end in a wireless connection mode and used for transmitting signals to the remote control end and receiving control of the remote control end.

Description

Technical Field

[0001] The utility model belongs to the technical field of in-pipeline detection, and in particular relates to a chain-type pipeline robot with a diameter-changing function. Background Art

[0002] In today's society, while road, rail, and air transportation have formed a relatively well-developed transportation network, pipeline transportation still holds a pivotal position in the transport of fluids (such as oil, natural gas, and water). Compared to other modes of transportation, pipeline transportation not only offers advantages such as large capacity, high continuity, and high safety, but also effectively reduces environmental pollution and energy consumption, making it a key means of achieving efficient resource allocation and sustainable development.

[0003] However, pipeline transportation systems also face numerous challenges, particularly regarding pipeline health monitoring and maintenance. Because pipelines are often laid underground or exposed to complex environments such as high temperatures and high pressures, internal and external corrosion, wear, and cracks are difficult to observe directly, posing significant risks to their safe operation. A pipeline leak not only wastes resources and pollutes the environment, but can also cause catastrophic accidents such as fires and explosions, posing a serious threat to public life and property.

[0004] Traditionally, pipeline inspection and maintenance operations rely on pipeline robots, which are electromechanically driven devices designed specifically for traveling inside pipelines. They can carry various sensors or maintenance tools to perform pipeline inspection and maintenance tasks. However, under existing technical conditions, pipeline robots of corresponding sizes must be customized to suit pipeline systems of different diameters. This approach not only limits the widespread application of pipeline robots, but also significantly increases the cost of inspection and maintenance, while consuming a large amount of labor and time resources. In addition, since pipelines are mainly used for the transportation of fluid materials, their internal environment is often complex, which makes it difficult for pipeline robots to maintain a stable and safe operating state in such environments, thereby increasing the risk of serious accidents. Utility Model Content

[0005] In order to solve the above-mentioned problems of being unable to adjust the diameter and difficulty in maintaining safe operation, the utility model provides a chain-type pipeline robot with a diameter-changing function.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A chain-type pipeline robot with a variable diameter function comprises a robot body, a drive mechanism is provided on the front and rear sides of the robot body, the drive mechanism comprises three drive assemblies, and the three drive assemblies are evenly arranged around the robot body at an angle of 120 degrees.

[0008] The drive assembly includes a motor base, a telescopic motor, a telescopic motor connector, wheels and a drive shaft. The lower end of the motor base is fixedly connected to the robot body by screws, the upper end of the motor base is fixedly mounted with one end of the telescopic motor, the other end of the telescopic motor is connected to the telescopic motor connector, the drive shaft is rotatably mounted in the telescopic motor connector, and the wheel is mounted on the drive shaft;

[0009] A motor is installed on the driving assembly located on the front side of the robot body. The motor is fixedly installed on the telescopic motor connecting piece. The output shaft of the motor is fixedly connected to the driving shaft for driving the wheels to rotate.

[0010] Furthermore, the robot body includes a connecting plate, a shell, a controller and a battery. There are two connecting plates, and the shell is fixedly connected between the two connecting plates. A controller and a battery are provided inside the shell. The battery is used to power the robot body. The controller is connected to the motor and the telescopic motor for controlling the operation of the motor and the telescopic motor.

[0011] Furthermore, at least two robot bodies are provided, and adjacent robot bodies are connected by a link mechanism, and the link mechanism includes a double Hooke's hinge and a spring. There are two springs, which are respectively connected to the two ends of the double Hooke's hinge, and the springs are connected to adjacent robot bodies.

[0012] Furthermore, a gas detection device is provided in the outer shell of one of the robot bodies for detecting the gas composition and concentration changes inside the pipeline. The gas detection device is connected to the controller to transmit the detected signal to the controller. Both ends of the gas detection device are connected to gas conduits, and the gas conduits pass through the outer shell and communicate with the outside world.

[0013] Furthermore, an air bag is provided in the shell of another robot body, both ends of the air bag are connected to an air duct, a control valve is provided on the air duct, the air duct passes through the shell and communicates with the outside world, and the control valve is connected to the controller.

[0014] Furthermore, the telescopic motor and the electric motor are both DC motors, which can effectively reduce the production cost and maintenance cost of the equipment.

[0015] Furthermore, a remote control terminal is included, and the controller is connected to the remote control terminal via a wireless connection, and is used to transmit signals to the remote control terminal and receive control from the remote control terminal.

[0016] Compared with the prior art, the utility model has the following advantages:

[0017] 1. The utility model realizes the diameter-changing function of the pipeline robot by installing a telescopic motor in the driving component, and can be applied to pipelines of various diameters.

[0018] 2. The utility model adopts the connection between the double Hook hinge and the spring in the link mechanism, so that the pipeline robot has a shock absorption function and ensures a good operating environment.

[0019] 3. The utility model uses a gas detection device and an air bag. When the gas inside the detection pipeline is abnormal and there is a risk of explosion, the inert gas in the air bag can be released to delay the explosion time, effectively reducing casualties.

[0020] 4. The utility model adopts DC motor drive, which can reduce the production cost and maintenance cost of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 This is the front view of the utility model;

[0023] Figure 3 This is an axial cross-sectional view of the robot body including the gas detection device of the present invention;

[0024] Figure 4 This is an axial cross-sectional view of the main body of the airbag-containing robot of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of the drive assembly including the motor of the utility model;

[0026] Figure 6 This is a schematic diagram of the structure of the drive component of the utility model;

[0027] In the figure, there are robot body 1, connecting plate 101, shell 102, controller 103, battery 104, gas detection device 105, gas duct 106, airbag 107, air guide tube 108, driving mechanism 2, motor base 201, telescopic motor 202, motor connector 203, wheel 204, driving shaft 205, link mechanism 3, and motor 4. DETAILED DESCRIPTION

[0028] In order to further illustrate the technical solution of the present invention, the present invention will be further described below through embodiments.

[0029] like Figure 1As shown, a chain-type pipeline robot with a variable diameter function includes a robot body 1 and a remote control terminal. At least two robot bodies 1 are provided, and adjacent robot bodies 1 are connected by a link mechanism 3. A drive mechanism 2 is provided on the front and rear sides of the robot body 1. The drive mechanism 2 includes three drive components. The three drive components are evenly arranged around the robot body 1 at an angle of 120°. The controller 103 is connected to the remote control terminal via a wireless connection and is used to transmit signals to the remote control terminal and receive control from the remote control terminal.

[0030] like Figure 3 、 Figure 4 As shown, the robot body 1 includes a connecting plate 101, a shell 102, a controller 103 and a battery 104. There are two connecting plates 101, and the shell 102 is fixedly connected between the two connecting plates 101. The controller 103 and the battery 104 are arranged inside the shell 102. The battery 104 is used to power the robot body 1. The controller 103 is connected to the motor 4 and the telescopic motor 202 to control the operation of the motor 4 and the telescopic motor 202. A gas detection device 105 is arranged in one of the shells 102 of the robot body 1 to detect the gas in the tube. The gas composition and concentration of the gas inside the channel change, the gas detection device 105 is connected to the controller 103, so as to transmit the detected signal to the controller 103, both ends of the gas detection device 105 are connected to the gas conduit 106, the gas conduit 106 passes through the shell 102 and communicates with the outside world, an air bag 107 is provided in the shell 102 of the other robot body 1, both ends of the air bag 107 are connected to the air guide tube 108, a control valve is provided on the air guide tube 108, the air guide tube 108 passes through the shell 102 and communicates with the outside world, and the control valve is connected to the controller 103;

[0031] like Figure 2 、 Figure 5 As shown, the drive assembly includes a motor base 201, a telescopic motor 202, a telescopic motor connector 203, a wheel 204 and a drive shaft 205. The lower end of the motor base 201 is fixedly connected to the robot body 1 by screws, and one end of the telescopic motor 202 is fixedly installed on the upper end of the motor base 201. The other end of the telescopic motor 202 is connected to the telescopic motor connector 203. The drive shaft 205 is rotatably installed in the telescopic motor connector 203, and the wheel 204 is installed on the drive shaft 205.

[0032] The link mechanism 3 includes a double Hooke's hinge and a spring. There are two springs, which are connected to both ends of the double Hooke's hinge respectively. The springs are connected to the adjacent robot body 1.

[0033] like Figure 6As shown, a motor 4 is installed on the driving assembly located on the front side of the robot body 1. The motor 4 is fixedly mounted on the telescopic motor connector 203. The output shaft of the motor 4 is fixedly connected to the drive shaft 205 for driving the wheel 204 to rotate. The telescopic motor 202 and the motor 4 are both DC motors, which can effectively reduce the production cost and maintenance cost of the equipment.

[0034] Workflow: According to the specific diameter of the pipeline, the pipeline robot is equipped with a telescopic motor 202, which accurately matches the diameter of the pipeline robot to ensure that the robot can smoothly enter the pipeline to perform operations.

[0035] While the pipeline robot is operating, the gas detection device 105 accurately monitors the gas composition and concentration changes inside the pipeline in real time. This critical data is immediately transmitted back to the control terminal for operator monitoring and analysis. If the concentration of dangerous gas reaches a preset safety level, the control terminal immediately triggers an alarm, prompting the operator to take emergency measures.

[0036] At this point, the operator can quickly send a command through the control terminal to the airbag 107 on the pipeline robot, instructing it to release the pre-loaded inert gas. This operation is intended to effectively reduce the concentration of dangerous gases in the pipeline, buying valuable time for subsequent detailed accident cause detection and manual repair work.

[0037] The above shows and describes the main features and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that come within the meaning and range of equivalents of the claims be encompassed within the present invention.

[0038] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A chain-type pipeline robot with a variable diameter function, characterized in that: The invention comprises a robot body (1), wherein a driving mechanism (2) is provided on the front side and the rear side of the robot body (1), and the driving mechanism (2) comprises three driving components, and the three driving components are evenly arranged around the robot body (1) at an angle of 120 degrees. The driving assembly comprises a motor base (201), a telescopic motor (202), a telescopic motor connecting piece (203), a wheel (204) and a driving shaft (205); the lower end of the motor base (201) is fixedly connected to the robot body (1) by screws; one end of the telescopic motor (202) is fixedly mounted on the upper end of the motor base (201); the other end of the telescopic motor (202) is connected to the telescopic motor connecting piece (203); a driving shaft (205) is rotatably mounted in the telescopic motor connecting piece (203); and a wheel (204) is mounted on the driving shaft (205); A motor (4) is installed on the driving assembly located on the front side of the robot body (1). The motor (4) is fixedly installed on the telescopic motor connector (203). The output shaft of the motor (4) is fixedly connected to the driving shaft (205) for driving the wheel (204) to rotate.

2. The chain-type pipeline robot with a diameter-changing function according to claim 1, characterized in that: The robot body (1) comprises a connecting plate (101), a housing (102), a controller (103) and a battery (104). There are two connecting plates (101). The housing (102) is fixedly connected between the two connecting plates (101). The housing (102) is provided with a controller (103) and a battery (104). The battery (104) is used to supply power to the robot body (1). The controller (103) is connected to a motor (4) and a telescopic motor (202) and is used to control the operation of the motor (4) and the telescopic motor (202).

3. The chain-type pipeline robot with a diameter-changing function according to claim 1, characterized in that: At least two robot bodies (1) are provided, and adjacent robot bodies (1) are connected via a link mechanism (3). The link mechanism (3) comprises a double Hooke's hinge and a spring. There are two springs, which are respectively connected to the two ends of the double Hooke's hinge. The springs are connected to adjacent robot bodies (1).

4. The chain-type pipeline robot with a diameter-changing function according to claim 3, characterized in that: A gas detection device (105) is provided in the housing (102) of one of the robot bodies (1) for detecting gas composition and concentration changes inside the pipeline. The gas detection device (105) is connected to a controller (103) so as to transmit detected signals to the controller (103). Both ends of the gas detection device (105) are connected to a gas conduit (106), and the gas conduit (106) passes through the housing (102) and communicates with the outside world.

5. The chain-type pipeline robot with a diameter-changing function according to claim 4, characterized in that: An air bag (107) is provided in the housing (102) of the other robot body (1), both ends of the air bag (107) are connected to an air guide tube (108), a control valve is provided on the air guide tube (108), the air guide tube (108) passes through the housing (102) and communicates with the outside world, and the control valve is connected to a controller (103).

6. The chain-type pipeline robot with a diameter-changing function according to claim 1, characterized in that: The telescopic motor (202) and the motor (4) are both DC motors, which can effectively reduce the production cost and maintenance cost of the equipment.

7. The chain-type pipeline robot with a diameter-changing function according to claim 2, characterized in that: It also includes a remote control terminal, and the controller (103) is connected to the remote control terminal through a wireless connection, and is used to transmit signals to the remote control terminal and accept control from the remote control terminal.

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