Pipeline robot

Abstract

The utility model discloses a pipeline robot which comprises a power mechanism and two supporting mechanisms, and the two supporting mechanisms are arranged on the two sides of the power mechanism correspondingly. The supporting mechanism comprises an electromagnetic contact, and the electromagnetic contact has magnetism when powered on so as to be attracted to the inner wall of the pipeline. The electromagnetic contacts in the two supporting mechanisms are attracted to the inner wall of the pipeline at the same time, and at the moment, the pipeline robot is fixed in the pipeline. When the pipeline robot advances, the electromagnetic contact in one supporting mechanism is attracted to the inner wall of a pipeline, the power mechanism drives the other supporting mechanism to gradually get close to or get away from the inner wall of the pipeline, and the electromagnetic contacts in the two supporting mechanisms are alternately attracted to the inner wall of the pipeline so that the pipeline robot can move along the pipeline. The pipeline robot disclosed by the utility model has the effects of stable operation in the pipeline, high load capacity and high advancing speed.

Description

Technical Field

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

[0002] With the development of robotics technology, pipeline robots are being used to inspect and maintain the interior of micro-pipelines. After a certain number of years of use, iron micro-pipelines inevitably develop micro-cracks and corrosion. Pipeline robots can automatically move along the interior of micro-pipelines, carrying one or more sensors and operating mechanisms. Under remote control by personnel or automatic computer control, they can perform a series of pipeline operations, including defect detection and repair.

[0003] Currently, commonly used peristaltic robot actuators are numerous and have complex drive control, requiring multiple motors to achieve bidirectional movement. The space for actuator placement is severely limited, especially when moving through vertical pipes or under heavy loads, where a large driving force is often required to prevent the robot from becoming unstable and falling or slipping inside the pipe. Therefore, existing peristaltic pipe robots are difficult to adapt to the operational requirements of micro-pipes. Utility Model Content

[0004] This application provides a pipeline robot that can operate stably inside a pipeline, has a large load capacity, and travels at a high speed.

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

[0006] A pipeline robot, comprising:

[0007] The power mechanism is used to provide power;

[0008] There are two support mechanisms, which are respectively located on both sides of the power mechanism; each support mechanism includes an electromagnetic contact, which becomes magnetic when energized to adhere to the inner wall of the pipe.

[0009] The electromagnetic contacts in both support mechanisms are simultaneously adsorbed onto the inner wall of the pipe, at which point the pipe robot is fixed in the pipe. During movement, the electromagnetic contact in one of the support mechanisms is adsorbed onto the inner wall of the pipe, and the power mechanism drives the other support mechanism to gradually move closer to or away from it. The electromagnetic contacts in the two support mechanisms are alternately adsorbed onto the inner wall of the pipe to enable the pipe robot to move along the pipe.

[0010] Optionally, each of the support mechanisms includes a mounting base and an elastic sheet, the length direction of the elastic sheet being the same as the length direction of the pipe, one end of the elastic sheet being fixedly connected to the first side of the mounting base, and the other end being fixedly connected to the electromagnetic contact.

[0011] Optionally, multiple elastic sheets and electromagnetic contacts are provided, and the multiple elastic sheets are arranged in a circular array on the mounting base, with each elastic sheet corresponding to one of the electromagnetic contacts.

[0012] Optionally, the power mechanism includes a first magnet, a second magnet, and an electromagnet. The first magnet and the second magnet are both disposed on the second side of the mounting base of one of the support mechanisms. The electromagnet is located between the first magnet and the second magnet, and the electromagnet is disposed on the second side of the mounting base of the other support mechanism. The first magnet and the second magnet provide opposite magnetic poles to the electromagnet, so that the electromagnet is magnetically attracted to the first magnet or the second magnet.

[0013] Optionally, the power mechanism further includes a first connecting rod and a second connecting rod, the length directions of the first connecting rod and the second connecting rod being the same as the length direction of the pipe, one end of the first connecting rod being fixedly connected to the second side of the mounting base of one of the support mechanisms, and the other end being fixedly connected to the second magnet; one end of the second connecting rod being fixedly connected to the second side of the mounting base of the other support mechanism, and the other end passing through the first magnet and being fixedly connected to the electromagnet, the first magnet being slidably connected to the second connecting rod.

[0014] Optionally, the first magnet slides along the length of the second connecting rod with damping to buffer the rigid collision of the electromagnet with the first magnet or the second magnet.

[0015] Optionally, the central axis of the mounting base coincides with the central axis of the first magnet, the second magnet, and the electromagnet. Along the direction of the central axis, the mounting base, the first magnet, the second magnet, and the electromagnet are all provided with mounting holes for installing cables to achieve electrical connection.

[0016] Optionally, a mounting position is provided on the first side of the mounting base for assembling functional modules and / or connecting shafts.

[0017] Optionally, if the mounting position is equipped with the connecting shaft, multiple pipeline robots can be connected in series via the connecting shaft.

[0018] Optionally, if the mounting position is equipped with the connecting shaft, the functional module is mounted on the mounting base via the connecting shaft.

[0019] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0020] When the electromagnetic contacts in both support mechanisms simultaneously adhere to the inner wall of the pipe, the pipe robot is fixed inside the pipe and can perform tasks on specific parts of the pipe. During movement, the electromagnetic contact in one support mechanism adheres to the inner wall of the pipe, and the power mechanism drives the other support mechanism to gradually move closer or further away. The electromagnetic contacts in the two support mechanisms alternately adhere to the inner wall of the pipe. By adjusting the distance between the two support mechanisms, the pipe robot can move along the pipe. With this configuration, the pipe robot of this application can operate stably inside the pipe, has a large load capacity, and a fast travel speed. Attached Figure Description

[0021] 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.

[0022] Figure 1 This is a schematic diagram of the overall structure of a pipeline robot disclosed in an embodiment of this application;

[0023] Figure 2(a) is a schematic diagram of a pipeline robot disclosed in an embodiment of this application, highlighting the motion state of the two support mechanisms;

[0024] Figure 2(b) is a schematic diagram of a pipeline robot disclosed in an embodiment of this application, highlighting the motion state of the two support mechanisms.

[0025] Figure 2(c) is a schematic diagram of a pipeline robot disclosed in an embodiment of this application, highlighting the motion state three of the two support mechanisms;

[0026] Figure 3 This is a schematic diagram of a pipeline robot connected in series, as disclosed in an embodiment of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Support mechanism; 11. Electromagnetic contact; 12. Mounting base; 121. Mounting position; 13. Elastic sheet; 2. Power mechanism; 21. First magnet; 22. Second magnet; 23. Electromagnet; 24. First connecting rod; 25. Second connecting rod; 26. Mounting hole; 3. Connecting shaft. Detailed Implementation

[0029] The present application will be further described in detail below with reference to the accompanying drawings.

[0030] This application provides a pipeline robot that can operate stably inside a pipeline, has a large load capacity, and travels at a high speed, making it suitable for iron micro-pipelines.

[0031] 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.

[0032] 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.

[0033] Currently used peristaltic robot actuators are numerous and have complex drive control, requiring multiple motors to achieve bidirectional movement. The space available for actuator placement is severely limited, especially when moving through vertical pipes or under heavy loads, where significant driving force is often needed to prevent the robot from becoming unstable and slipping. Therefore, existing peristaltic pipe robots are ill-suited for the operational requirements of micro-pipes. For solutions to these technical problems, please refer to [link to relevant documentation]. Figure 1 This is one embodiment of the pipeline robot in this application, including a power mechanism 2 and a support mechanism 1. The power mechanism 2 is used to provide power, and there are two support mechanisms 1, which are respectively arranged on both sides of the power mechanism 2 and are symmetrically arranged.

[0034] Please continue reading. Figure 1The support mechanism 1 includes a mounting base 12, an elastic sheet 13, and an electromagnetic contact 11. The central axis of the mounting base 12 is parallel to the length of the pipe, and the length direction of the elastic sheet 13 is the same as the length direction of the pipe. One end of the elastic sheet 13 is fixedly connected to the first side of the mounting base 12, and the other end is fixedly connected to the electromagnetic contact 11. When energized, the electromagnetic contact 11 becomes magnetic and adheres to the inner wall of the pipe. The electromagnetic contact 11 can adhere to the inner wall of the pipe by magnetic force to provide additional grip and prevent the pipe robot from slipping or tipping over when moving in the pipe. It can be understood that when the electromagnetic contact 11 is energized, it becomes magnetic. Under the action of magnetic attraction, the end of the elastic sheet 13 not connected to the mounting base 12 bends towards the inner wall of the pipe, so that the electromagnetic contact 11 adheres to the inner wall of the pipe. When the electromagnetic contact 11 is de-energized, the magnetism disappears, the electromagnetic contact 11 separates from the inner wall of the pipe, and the elastic sheet 13 returns to its original position away from the inner wall of the pipe due to its own rebound force. By setting the elastic sheet 13, the support mechanism 1 can be adapted to pipes of different diameters, thus expanding the applicability of the support mechanism 1.

[0035] In this embodiment, multiple elastic sheets 13 and electromagnetic contacts 11 are provided. The multiple elastic sheets 13 are arranged in a circular array on the mounting base 12, and the elastic sheets 13 and electromagnetic contacts 11 are arranged in a one-to-one correspondence. The multiple electromagnetic contacts 11 are also arranged in a circular array to fit the inner wall of the pipe. After being energized, the multiple electromagnetic contacts 11 all become magnetic and can be simultaneously attracted to different areas of the inner wall of the pipe, providing greater attraction force and stability for the support mechanism 1, ensuring that the pipe robot will not lose balance due to single-point contact during movement.

[0036] The electromagnetic contacts 11 in both support mechanisms 1 simultaneously adhere to the inner wall of the pipe, thus fixing the pipe robot inside the pipe. The pipe robot, fixed within the pipe, can perform tasks on specific parts of the pipe, such as inspection, cleaning, and maintenance. During movement, the electromagnetic contact 11 in one support mechanism 1 adheres to the inner wall of the pipe, while the power mechanism 2 drives the other support mechanism 1 to gradually approach or move away. The electromagnetic contacts 11 in the two support mechanisms 1 alternately adhere to the inner wall of the pipe. By adjusting the distance between the two support mechanisms 1, the pipe robot can move along the pipe.

[0037] The power mechanism 2 includes a first magnet 21, a second magnet 22, an electromagnet 23, a first connecting rod 24, and a second connecting rod 25. The length directions of the first connecting rod 24 and the second connecting rod 25 are the same as the length direction of the pipe. The central axes of the first magnet 21, the second magnet 22, and the electromagnet 23 coincide with the central axis of the mounting base 12. The first magnet 21 and the second magnet 22 are both disposed on the second side of the mounting base 12 of one of the support mechanisms 1. One end of the first connecting rod 24 is fixedly connected to the second side of the mounting base 12 of one of the support mechanisms 1, and the other end is fixedly connected to the second magnet 25. Magnet 22 is fixedly connected; electromagnet 23 is located between the first magnet 21 and the second magnet 22, and electromagnet 23 is disposed on the second side of the mounting base 12 of another support mechanism 1. One end of the second connecting rod 25 is fixedly connected to the second side of the mounting base 12 of another support mechanism 1, and the other end passes through the first magnet 21 and is fixedly connected to the electromagnet 23. The first magnet 21 and the second magnet 22 provide opposite magnetic poles to the electromagnet 23 so that the electromagnet 23 is magnetically attracted to the first magnet 21 or the second magnet 22. The first magnet 21 is slidably connected to the second connecting rod 25.

[0038] For ease of explanation, in this embodiment, the first side of the mounting base 12 is the side of the mounting base 12 away from the other support mechanism 1, and the second side of the mounting base 12 is the side of the mounting base 12 close to the other support mechanism 1; the support mechanism 1 on the right is the first support mechanism 1, and the support mechanism 1 on the left is the second mechanism. It can be understood that the first connecting rod 24 is fixedly disposed on the second side of the mounting base 12 of the first support mechanism 1, the first magnet 21 is fixedly disposed at the end of the first connecting rod 24, and the second magnet 22 is fixedly disposed on the second side of the mounting base 12 of the first support mechanism 1, with a gap between the first magnet 21 and the second magnet 22; the second connecting rod 25 is fixedly disposed on the second side of the mounting base 12 of the second support mechanism 1, the second connecting rod 25 passes through the first magnet 21 and the end of the second connecting rod 25 is fixedly connected to the electromagnet 23, and the first magnet 21 and the second connecting rod 25 are slidably connected. When electromagnet 23 is energized, if its magnetic field direction is the same as that of the first magnet 21 and opposite to that of the second magnet 22, electromagnet 23 moves towards the first magnet 21 to attract it. Conversely, if its magnetic field direction is the same as that of the second magnet 22 and opposite to that of the first magnet 21, electromagnet 23 moves towards the second magnet 22 to attract it. By controlling the direction of the current in electromagnet 23, the direction of its magnetic field can be changed, allowing it to attract different magnets. This enables the extension and retraction of the power mechanism 2, thereby driving the first support mechanism 1 to gradually approach or move away from the second support mechanism 1, adjusting the distance between them. The power mechanism 2 in this application has advantages such as simple structure, convenient control, no mechanical wear, high reliability, and fast response speed. It also has a compact structure, occupies little space, and is suitable for space-constrained applications.

[0039] In order to reduce the rigid collision of electromagnet 23 with the first magnet 21 or the second magnet 22, the first magnet 21 slides with damping along the length of the second connecting rod 25. The damping slide buffers the rigid collision generated when the electromagnet 23 moves toward the first magnet 21 or the second magnet 22, thereby extending the service life of each component.

[0040] Since the central axis of the mounting base 12 coincides with the central axis of the first magnet 21, the second magnet 22 and the electromagnet 23, the mounting base 12, the first magnet 21, the second magnet 22 and the electromagnet 23 are all provided with mounting holes 26 along the direction of the central axis. The mounting holes 26 are used to install cables to achieve electrical connection. The pipeline robot can be powered and controlled by the cable.

[0041] The following describes the movement of the pipeline robot. Specifically, if the pipeline robot moves to the right, the left-side support mechanism 1, located inside the pipeline, is energized by the electromagnetic contact 11 and adsorbed onto the inner wall of the pipeline. That is, the left-side support mechanism 1 is fixed relative to the pipeline, as shown in Figure 2(a). Then, the electromagnet 23 is energized, controlling the magnetic field direction of the electromagnet 23 to be the same as that of the first magnet 21 and opposite to that of the second magnet 22. Since the electromagnet 23 is fixed, the first magnet 21 moves toward the electromagnet 23 and adsorbs onto it. The movement of the first magnet 21 drives the second magnet 22 and the right-side support mechanism 1 to move synchronously, thereby expanding the two support mechanisms. The distance between the two support mechanisms 1 is adjusted so that the right support mechanism 1 moves to the right, as shown in Figure 2(b). Then, the right support mechanism 1 is energized by the electromagnetic contact 11 and adsorbed onto the inner wall of the pipe, meaning the left support mechanism 1 is fixed relative to the pipe. At this point, the adsorption of the left support mechanism 1 is released, and the magnetic field direction of the electromagnet 23 is controlled to be the same as the second magnet 22 and opposite to the first magnet 21. Since the second magnet 22 is fixed, the electromagnet 23 moves towards the direction of the first magnet 21. The movement of the electromagnet 23 drives the left support mechanism 1 to move synchronously, thereby reducing the distance between the two support mechanisms 1, and the left support mechanism 1 moves to the right, as shown in Figure 2(c). This process is repeated, with the two support mechanisms 1 alternately adsorbing onto the inner wall of the pipe to achieve the pipe robot's movement to the right. If the pipe robot moves to the left, the fixing order of the left and right support mechanisms 1 is reversed, but the operating principle is the same, so it will not be described further.

[0042] Please see Figure 1 and Figure 3 The mounting base 12 has a mounting position 121 on its first side, which is used for assembling functional modules and / or connecting shafts 3. In some embodiments, the mounting position 121 is equipped with functional modules to support the synchronous movement of each functional module with the support mechanism 1. The functional modules include one or more of the following: a camera module, a sensor module, a cleaning module, a cutting module, and a repair module. The camera module enables real-time video monitoring, providing visual information about the inside of the pipeline to help operators understand the internal condition of the pipeline, such as blockages, corrosion, and cracks. The sensor module helps identify potential problems. The cleaning module cleans dirt and deposits inside the pipeline to keep it unobstructed. The cutting module cuts obstacles inside the pipeline, such as tree roots and hard deposits. The repair module repairs damaged parts of the pipeline, such as cracks and corrosion. These functional modules can be combined and customized according to specific needs to adapt to different types of pipeline inspection and maintenance tasks.

[0043] In some embodiments, the mounting position 121 is equipped with a connecting shaft 3, and multiple pipeline robots can be connected in series via the connecting shaft 3. The connecting shaft 3 is preferably a flexible connecting shaft 3. It is understood that the working range of a single pipeline robot is limited. By connecting multiple pipeline robots in series via the connecting shaft 3, the robot's range of movement within the pipeline can be extended, covering a longer pipeline distance and expanding the working range. At the same time, multiple pipeline robots can carry more functional modules and achieve collaborative operation through the connecting shaft 3. Each pipeline robot can perform different tasks, thereby improving work efficiency and task completion. Secondly, the connected pipeline robots can flexibly adjust their shape according to changes in the pipeline to adapt to pipelines of different shapes, improving adaptability in complex pipeline environments and enhancing flexibility.

[0044] In some embodiments, mounting position 121 is equipped with a connecting shaft 3, and functional modules can be mounted on mounting base 12 via the connecting shaft 3. For example, in a pipeline robot, mounting position 121 of one mounting base 12 carries an emergency mobile power supply via a flexible connecting shaft, and mounting position 121 of the other mounting base 12 is connected in series with another pipeline robot via a flexible connecting shaft.

[0045] 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 pipeline robot, characterized in that, include: The power mechanism is used to provide power; There are two support mechanisms, which are respectively located on both sides of the power mechanism; each support mechanism includes an electromagnetic contact, which becomes magnetic when energized to adhere to the inner wall of the pipe. The electromagnetic contacts in both support mechanisms are simultaneously adsorbed onto the inner wall of the pipe, at which point the pipe robot is fixed in the pipe. During movement, the electromagnetic contact in one of the support mechanisms is adsorbed onto the inner wall of the pipe, and the power mechanism drives the other support mechanism to gradually move closer to or away from it. The electromagnetic contacts in the two support mechanisms are alternately adsorbed onto the inner wall of the pipe to enable the pipe robot to move along the pipe.

2. The pipeline robot according to claim 1, characterized in that, Each of the support mechanisms includes a mounting base and an elastic plate. The length direction of the elastic plate is the same as the length direction of the pipe. One end of the elastic plate is fixedly connected to the first side of the mounting base, and the other end is fixedly connected to the electromagnetic contact.

3. A pipeline robot according to claim 2, characterized in that, Multiple elastic sheets and multiple electromagnetic contacts are provided, and the multiple elastic sheets are arranged in a ring array on the mounting base, with each elastic sheet corresponding to one electromagnetic contact.

4. A pipeline robot according to claim 2, characterized in that, The power mechanism includes a first magnet, a second magnet, and an electromagnet. The first magnet and the second magnet are both disposed on the second side of the mounting base of one of the support mechanisms. The electromagnet is located between the first magnet and the second magnet, and the electromagnet is disposed on the second side of the mounting base of the other support mechanism. The first magnet and the second magnet provide opposite magnetic poles to the electromagnet, so that the electromagnet is magnetically attracted to the first magnet or the second magnet.

5. A pipeline robot according to claim 4, characterized in that, The power mechanism further includes a first connecting rod and a second connecting rod. The length directions of the first connecting rod and the second connecting rod are the same as the length direction of the pipe. One end of the first connecting rod is fixedly connected to the second side of the mounting base of one of the support mechanisms, and the other end is fixedly connected to the second magnet. One end of the second connecting rod is fixedly connected to the second side of the mounting base of the other support mechanism, and the other end passes through the first magnet and is fixedly connected to the electromagnet. The first magnet is slidably connected to the second connecting rod.

6. A pipeline robot according to claim 5, characterized in that, The first magnet slides along the length of the second connecting rod with damping to buffer the rigid collision of the electromagnet with the first magnet or the second magnet.

7. A pipeline robot according to claim 4, characterized in that, The central axis of the mounting base coincides with the central axes of the first magnet, the second magnet, and the electromagnet. Along the direction of the central axis, the mounting base, the first magnet, the second magnet, and the electromagnet are all provided with mounting holes for installing cables to achieve electrical connection.

8. A pipeline robot according to claim 2, characterized in that, The first side of the mounting base is provided with a mounting position for assembling functional modules and / or connecting shafts.

9. A pipeline robot according to claim 8, characterized in that, If the mounting position is equipped with the connecting shaft, multiple pipeline robots can be connected in series through the connecting shaft.

10. A pipeline robot according to claim 8, characterized in that, If the mounting position is equipped with the connecting shaft, the functional module is mounted on the mounting base via the connecting shaft.

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