Miniature pipeline robot

Abstract

The utility model discloses a miniature pipeline robot which comprises a shell, a walking mechanism and a cable, the walking mechanism is arranged on the shell and comprises a first driving wheel, a second driving wheel and a driving part, the advancing direction of the first driving wheel is the same as that of the second driving wheel, the first driving wheel is used for making contact with the inner wall of a pipeline, and the second driving wheel is used for making contact with the inner wall of the pipeline. The first driving wheel is used for being in contact with the inner wall of the pipeline, the first driving wheel is in running fit with the shell, the driving part drives the first driving wheel to rotate so that the first driving wheel can move along the pipeline, and the second driving wheel is used for being in contact with the inner wall of the pipeline and is in running fit with the shell; one end of the cable is used for being electrically connected with pipeline external equipment, and the other end of the cable is electrically connected with the driving piece. The robot has the advantages of being capable of moving fast and carrying large loads, small in size and high in trafficability.

Description

Technical Field

[0001] This application relates to the technical field of pipeline inspection, and more specifically, to a miniature pipeline robot. Background Technology

[0002] Miniature pipelines have wide applications in industries such as power generation, aviation, chemical engineering, and shipbuilding. Compared to ordinary pipelines, miniature pipelines offer smaller size and more precise control. However, with the accumulation of service time, pipelines inevitably develop defects such as cracks, corrosion, deformation, and blockages. Timely detection and treatment are necessary to prevent further damage and avoid significant property and safety accidents.

[0003] Due to the sheer size of miniature pipes, personnel cannot be deployed for inspection. With the development of robotics, using miniature pipe robots has become an effective solution. These robots, characterized by their small size, can enter confined spaces inaccessible to conventional mechanical systems, performing tasks such as pipe cleaning, information gathering, inspection, and maintenance. Currently, due to their tiny size, miniature pipe robots primarily employ electromagnetic, piezoelectric, and magnetostrictive actuation technologies. However, these technologies generally suffer from complex structural designs, intricate control strategies, slow movement speeds, and limited payload capacity. Utility Model Content

[0004] This application provides a miniature pipeline robot that is capable of rapid movement and carrying large loads, and is small in size with strong maneuverability.

[0005] The miniature pipeline robot provided in this application adopts the following technical solution:

[0006] A miniature pipeline robot, comprising:

[0007] case;

[0008] A walking mechanism, disposed in the housing, includes a first moving wheel, a second moving wheel, and a driving member. The first moving wheel and the second moving wheel travel in the same direction. The first moving wheel is used to contact the inner wall of the pipe and is rotatably engaged with the housing. The driving member drives the first moving wheel to rotate so that the first moving wheel moves along the pipe. The second moving wheel is used to contact the inner wall of the pipe and is rotatably engaged with the housing.

[0009] A cable, one end of which is used for electrical connection to external equipment of the pipeline, and the other end of which is used for electrical connection to the drive component.

[0010] Optionally, the cable transmits digital signals or analog signals based on power line carrier technology.

[0011] Optionally, the length direction of the cable is the same as the length direction of the housing and the length direction of the pipe.

[0012] Optionally, the first moving wheel is configured as a magnetic moving wheel, which is used to maintain magnetic attraction with the inner wall of the pipe.

[0013] Optionally, the first moving wheel includes at least one, and the second moving wheel includes at least two, wherein the at least two second moving wheels are respectively located on both sides of the housing.

[0014] Optionally, there are two first moving wheels and four second moving wheels. The central axes of the two first moving wheels coincide and are arranged along the length of the housing. The four second moving wheels are symmetrically arranged on both sides of the housing, and the central axes of the two second moving wheels on the same side of the housing coincide.

[0015] Optionally, the driving component is a single-axis driving component, wherein one of the first moving wheels is disposed at the output end of the driving component;

[0016] The walking mechanism further includes a transmission assembly, which includes a transmission rod, two first gears and two second gears. The two first gears are respectively disposed at both ends of the transmission rod, and the two second gears are respectively disposed on the same side of the two first driving wheels. The first gears mesh with the second gears.

[0017] Optionally, the driving component is a dual-axis driving component, with two first moving wheels respectively disposed at the two output ends of the driving component, and the driving component drives the two first moving wheels to rotate synchronously.

[0018] Optionally, the peripheral wall of the housing is provided with a first clearance groove and a second clearance groove. The first clearance groove is used to provide installation space for the first moving wheel and to avoid the first moving wheel; the second clearance groove is used to provide installation space for the second moving wheel and to avoid the second moving wheel.

[0019] Optionally, the outer contour of the housing is at least partially configured to adapt to the shape of the inner wall of the pipe.

[0020] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0021] Driven by the driving components, the first moving wheel moves along the pipe wall, and the second moving wheel cooperates with the first moving wheel to drive the entire robot to move along the pipe wall. The wheel drive has the ability to move quickly and carry a large load, while also being low in cost. Through an external power supply and signal source, the cable is used to provide power and signal connection. Power is obtained from outside the pipe through the cable, which not only reduces the size and weight of the robot and improves its passability, but also makes the wired signal connection more stable than the wireless signal connection and suitable for conductor pipes. Furthermore, if the robot gets stuck in a complex and ever-changing micro-pipe, maintenance personnel can use the cable to retrieve and remove the robot. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0023] Figure 1 This is a schematic diagram of the overall structure of a micro-pipeline robot disclosed in an embodiment of this application;

[0024] Figure 2 This is a schematic diagram of the structure of a micro-pipeline robot with its outer shell removed, as disclosed in an embodiment of this application.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Housing; 11. First clearance groove; 12. Second clearance groove; 21. First moving wheel; 22. Second moving wheel; 23. Driving component; 24. Transmission rod; 25. First gear; 26. Second gear; 27. Worm gear structure; 3. Cable. Detailed Implementation

[0027] The present application will be further described in detail below with reference to the accompanying drawings.

[0028] This application provides a miniature pipeline robot that has the ability to move quickly and carry a large load, and is small in size and highly maneuverable.

[0029] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, and not all of them. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application. Furthermore, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0030] The terms "first," "second," "third," "fourth," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Please see Figure 1 and Figure 2 This is one embodiment of the micro-pipeline robot in this application, including a housing 1, a walking mechanism, and a cable 3. The walking mechanism is disposed in the housing 1. When the micro-pipeline robot is working, the housing 1 is located inside the micro-pipeline. The cable 3 is used to provide power and signal connection, obtaining power from outside the pipe through the cable 3 so that the walking mechanism drives the robot to move along the pipe wall. In some embodiments, by setting a vision unit and a maintenance unit on the housing 1, the micro-pipeline robot has the functions of detection, identification, maintenance, and repair.

[0032] In this embodiment, the outer contour of the housing 1 is at least partially adapted to the shape of the inner wall of the pipe. That is, the outer contour of the housing 1 is at least partially arc-shaped, which can reduce the friction between the outer shell and the inner wall of the pipe during the robot's movement, protect the pipe and the housing, extend their service life, reduce energy consumption, and improve the robot's movement efficiency. By adapting the housing 1 to the shape of the inner wall of the pipe, the robot can make better use of the space inside the pipe, making the robot more stable inside the pipe, avoiding swaying or tilting during movement, and ensuring that it can pass smoothly in narrow environments and accurately perform tasks.

[0033] The traveling mechanism includes a first moving wheel 21, a second moving wheel 22, and a driving member 23. The first moving wheel 21 and the second moving wheel 22 travel in the same direction. The first moving wheel 21 is used to contact the inner wall of the pipe and is rotatably engaged with the housing 1. The driving member 23 drives the first moving wheel 21 to rotate so that the first moving wheel 21 moves along the pipe. The second moving wheel 22 is used to contact the inner wall of the pipe and is rotatably engaged with the housing 1. One end of the cable 3 is used to electrically connect to the external equipment of the pipe, and the other end is electrically connected to the driving member 23. Understandably, the first moving wheel 21 is driven to move along the pipe wall by the driving component 23, and the second moving wheel 22 works with the first moving wheel 21 to drive the robot as a whole to move along the pipe wall. The wheel drive has the ability to move quickly and carry a large load, while also being low in cost. Through an external power supply and signal source, the cable 3 is used to provide power and signal connection. Obtaining power from outside the pipe through the cable 3 can not only reduce the size and weight of the robot, thereby improving its passability, but also the wired signal connection is more stable than the wireless signal connection and can be used in conductor pipes. Furthermore, if the robot gets stuck in a complex and ever-changing micro-pipe, maintenance personnel can use the cable 3 to retrieve and remove the robot.

[0034] Furthermore, the periphery of the housing 1 is provided with a first clearance groove 11 and a second clearance groove 12. The first clearance groove 11 provides installation space for the first moving wheel 21 and avoids the first moving wheel 21; the second clearance groove 12 provides installation space for the second moving wheel 22 and avoids the second moving wheel 22. It is understood that the partial location of the first moving wheel 21 and the second moving wheel 22 within the housing 1 can fully utilize the internal space of the housing 1, thereby reducing the overall size of the robot. The length direction of the cable 3 is the same as the length direction of the housing 1 and the length direction of the pipe. When retrieving the robot via the cable, the applied tension helps to drive the robot's movement.

[0035] In this embodiment, cable 3 transmits digital signals or analog signals based on power line carrier technology, so as to transmit the sensor signals carried by the robot or the control signals of the motor to the external equipment of the pipeline via cable 3, so as to realize communication with the outside world. Using power line carrier technology, the number of cores of cable 3 can be reduced from more than 4 cores to 2 cores, reducing the size and weight of cable 3 and making the robot move more flexibly in the pipeline.

[0036] To ensure stable movement of the robot within the pipe, the first moving wheel 21 is configured as a magnetic moving wheel. The first moving wheel 21 is magnetically attracted to the inner wall of the pipe, providing additional grip and preventing the robot from slipping or tipping over, thus maintaining stability during movement. At least one first moving wheel 21 and at least two second moving wheels 22 are included, with the at least two second moving wheels 22 located on opposite sides of the housing 1. Understandably, during movement, the first moving wheel 21, attracted to the inner wall of the pipe, moves along the inner wall under the drive of the drive component 23. The first moving wheel 21 obtains support from the inner wall of the pipe through magnetic force. The second moving wheels 22 located on opposite sides of the housing 1 provide support perpendicular to the inner wall of the pipe, ensuring the robot does not tip over during movement and further improving the robot's stability while walking within the pipe.

[0037] In some embodiments, two first moving wheels 21 and four second moving wheels 22 are provided. The central axes of the two first moving wheels 21 coincide and are arranged along the length of the housing 1, with the two first moving wheels 21 located at opposite ends of the housing 1. The four second moving wheels 22 are symmetrically arranged on both sides of the housing 1, with the central axes of the two second moving wheels 22 on the same side of the housing 1 coinciding. It is understood that the two first moving wheels 21 can provide greater suction force and stability. When the robot is on the uneven inner wall of a pipe, this ensures that at least one first moving wheel 21 is always in contact with the inner wall of the pipe while the robot is walking. The four driven wheels rotate passively by friction. This symmetrical arrangement can evenly distribute the weight of the robot, so that the center of gravity of the robot is always kept between the two magnetic wheels when walking, reducing the risk of tipping over due to excessive force on one side, further improving stability, and enabling the robot to maintain good balance while walking, even on uneven or inclined surfaces.

[0038] In some embodiments, when two first moving wheels 21 are provided, the driving member 23 is a single-axis driving member 23, preferably a DC motor. One of the first moving wheels 21 is located at the output end of the driving member 23. The walking mechanism also includes a transmission assembly for transmitting power. The transmission assembly includes a transmission rod 24, two first gears 25, and two second gears 26. The two first gears 25 are respectively located at both ends of the transmission rod 24, and the two second gears 26 are respectively located on the same side of the two first moving wheels 21. The first gears 25 and the second gears 26 mesh. The driving member 23 drives one of the first moving wheels 21 to rotate, and transmits power to the transmission rod 24 through the meshing of the first gears 25 and the second gears 26. Then, through the meshing of the first gears 25 and the second gears 26 on the other side of the transmission rod 24, the other first moving wheel 21 is driven to rotate, realizing the synchronous rotation of the two second moving wheels 22. The power transmission between the output end of the driving member 23 and the first moving wheel 21 is achieved through a worm gear structure 27 or two bevel gear structures arranged perpendicularly to each other.

[0039] In some embodiments, when there is only one first moving wheel 21, the drive member 23 is a single-axis drive member 23, and the single-axis drive member 23 is preferably a DC motor. The only first moving wheel 21 is located at the output end of the drive member 23. Since the arrangement of the transmission component is eliminated, this arrangement reduces the volume of the walking mechanism and the space occupied by the housing 1, so that the housing 1 can be set smaller, and the overall volume of the robot can be further reduced to pass through pipes with smaller radii.

[0040] In some embodiments, when two first moving wheels 21 are provided, the driving member 23 is a dual-axis driving member 23, and the two first moving wheels 21 are respectively provided at the two output ends of the driving member 23, and the two first moving wheels 21 are driven to rotate synchronously by the driving member 23. The power transmission between the output end of the driving member 23 and the first moving wheels 21 is realized through a worm gear structure 27 or two bevel gear structures arranged perpendicularly to each other.

[0041] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A miniature pipeline robot, characterized in that, include: case; A walking mechanism, disposed in the housing, includes a first moving wheel, a second moving wheel, and a driving member. The first moving wheel and the second moving wheel travel in the same direction. The first moving wheel is used to contact the inner wall of the pipe and is rotatably engaged with the housing. The driving member drives the first moving wheel to rotate so that the first moving wheel moves along the pipe. The second moving wheel is used to contact the inner wall of the pipe and is rotatably engaged with the housing. A cable, one end of which is used for electrical connection to external equipment of the pipeline, and the other end of which is used for electrical connection to the drive component.

2. The micro-pipeline robot according to claim 1, characterized in that, The cable transmits digital signals or analog signals based on power line carrier technology.

3. A miniature pipeline robot according to claim 1, characterized in that, The length direction of the cable is the same as the length direction of the housing and the length direction of the pipe.

4. A miniature pipeline robot according to claim 1, characterized in that, The first moving wheel is configured as a magnetic moving wheel, and the first moving wheel is used to maintain magnetic attraction with the inner wall of the pipe.

5. A miniature pipeline robot according to claim 4, characterized in that, The first moving wheel includes at least one, and the second moving wheel includes at least two, wherein the at least two second moving wheels are respectively located on both sides of the housing.

6. A miniature pipeline robot according to claim 5, characterized in that, There are two first moving wheels and four second moving wheels. The central axes of the two first moving wheels coincide and are arranged along the length of the housing. The four second moving wheels are symmetrically arranged on both sides of the housing, and the central axes of the two second moving wheels on the same side of the housing coincide.

7. A miniature pipeline robot according to claim 6, characterized in that, The driving component is a single-axis driving component, wherein one of the first moving wheels is disposed at the output end of the driving component; The walking mechanism further includes a transmission assembly, which includes a transmission rod, two first gears and two second gears. The two first gears are respectively disposed at both ends of the transmission rod, and the two second gears are respectively disposed on the same side of the two first driving wheels. The first gears mesh with the second gears.

8. A miniature pipeline robot according to claim 6, characterized in that, The driving component is a dual-axis driving component, with two first moving wheels respectively disposed at the two output ends of the driving component, and the driving component drives the two first moving wheels to rotate synchronously.

9. A miniature pipeline robot according to claim 1, characterized in that, The housing peripheral wall is provided with a first clearance groove and a second clearance groove. The first clearance groove is used to provide installation space for the first moving wheel and to avoid the first moving wheel; the second clearance groove is used to provide installation space for the second moving wheel and to avoid the second moving wheel.

10. A miniature pipeline robot according to claim 1, characterized in that, The outer contour of the shell is at least partially adapted to fit the shape of the inner wall of the pipe.

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