Self-adaptive variable-pipe-diameter pipeline robot positioning module device

Abstract

The utility model relates to the technical field of wall-climbing robots, in particular to a self-adaptive variable-pipe-diameter pipeline robot positioning module device, which comprises a battery cabin, two sides of the battery cabin are respectively connected with a front end cover and a rear end cover, and the battery cabin is provided with a mileage counting component; the mileage counting assembly comprises a first positioning block, a second positioning block and a third positioning block, the third positioning block is provided with a first pin shaft, the two ends of the first pin shaft are sleeved with connecting rods, the ends, away from the first pin shaft, of the connecting rods are connected through a center shaft, and a mileage wheel is rotationally arranged on the center shaft; a sliding block guide rail is arranged between the first positioning block and the second positioning block, the sliding block guide rail is slidably sleeved with a sliding block and a compression spring, supporting connecting rods are hinged to the sliding block, the middles of the two connecting rods are connected through a second pin shaft, and the second pin shaft is rotationally sleeved with the end, away from the sliding block, of each supporting connecting rod; a Hall element is arranged on the connecting rod, a small magnetic block is arranged on the odometer wheel, and the technical problem that the positioning accuracy of the pipeline robot is poor is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to wall -climbing robot technical field, concretely relates to a pipeline robot positioning module device of self -adaptation variable pipe diameter. BACKGROUND

[0002] Pipeline transportation is widely used in petroleum, chemical industry, natural gas and other fields because of high safety performance, large transportation capacity, no land occupation, low cost, environmental protection and other advantages. The pipeline system is usually composed of straight pipes and various elbows, and the straight pipes and various elbows are usually connected by welding. A large number of pipeline systems are difficult for detection and maintenance personnel to detect and maintain the pipeline because of their special use environment and space limitations, such as small-diameter pipeline systems, buried oil and gas pipeline systems, high-altitude industrial pipeline systems and the like. The traditional manual detection pipeline has high cost, low detection efficiency and precision, large detection workload, and certain risks.

[0003] When the small-diameter pipeline detection robot detects defects in the pipeline, the position of the defects needs to be positioned, and then excavation work is carried out at the position, and finally the pipeline is repaired or replaced. Therefore, when the robot works in the pipeline, the travel mileage of the robot must be recorded to determine the position. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a pipeline robot positioning module device of self -adaptation variable pipe diameter, three groups of mileage wheel structures can work independently, the best mileage wheel data is selected from them, the positioning accuracy of the defect pipeline robot is improved and the influence of interference factors is reduced.

[0005] In order to solve the technical problem of poor positioning accuracy of the pipeline robot, the utility model adopts the following technical scheme:

[0006] A pipeline robot positioning module device of self -adaptation variable pipe diameter, including battery cabin, the both sides of battery cabin are respectively screw -connected with front end cover and rear end cover, the rear end cover is equipped with universal joint, the circumference of battery cabin is equipped with three annular array type distribution's odometer assembly;

[0007] The odometer assembly includes equidistantly distributed first positioning block, second positioning block and third positioning block along the outer wall of the battery cabin, a first pin shaft is provided through the third positioning block, a connecting rod is rotatably provided at both ends of the first pin shaft, the connecting rod is connected by a center shaft at the end away from the first pin shaft, and an odometer is rotatably provided on the center shaft.

[0008] The first positioning block and the second positioning block are provided with a sliding block guide rail, a sliding block and a compression spring are sleeved on the sliding block guide rail, the compression spring is arranged between the first positioning block and the sliding block, a supporting connecting rod is hinged to the sliding block, the middle portions of the two connecting rods are connected through a second pin shaft, and one end of the supporting connecting rod away from the sliding block is rotatably sleeved on the second pin shaft.

[0009] The connecting rod is provided with a Hall element, and the odometer wheel is provided with a small magnet block.

[0010] Compared with the prior art, the self-adapting variable pipe diameter pipe robot positioning module device has the advantages that:

[0011] 1. The self-adapting variable pipe diameter pipe robot positioning module device comprises three mutually independent odometer assembly components, when the pipe diameter changes, the compression spring is stretched or compressed under stress to adjust the circumferential size of the pipe robot positioning module, and then the pipe robot positioning module is closely attached to the inner wall of the pipe.

[0012] 2. The self-adapting variable pipe diameter pipe robot positioning module device comprises three mutually independent odometer assembly components, when any one of the three odometer assembly components cannot normally work, the other two odometer assembly components can still normally work, and the position of the pipe robot can be continuously positioned.

[0013] 3. The self-adapting variable pipe diameter pipe robot positioning module device comprises Hall elements and small magnet blocks arranged opposite to each other, the magnet and the Hall element are coaxially connected, whenever the odometer wheel rotates one circle, the magnet on the odometer wheel will sweep in front of the Hall element, and the Hall element can record the number of rotations of the wheel. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a perspective view of the self-adapting variable pipe diameter pipe robot positioning module device.

[0015] Figure 2 It is a front view of the self-adapting variable pipe diameter pipe robot positioning module device.

[0016] Figure 3 It is a top view of the self-adapting variable pipe diameter pipe robot positioning module device.

[0017] Figure 4 It is a perspective view of the connecting rod.

[0018] Figure 5 It is a movement process diagram of the self-adapting variable pipe diameter pipe robot positioning module device.

[0019] Icon: 1-gimbal, 2-odometer wheel, 3-sliding block guide rail, 4-connecting rod, 51-first pin shaft, 52-second pin shaft, 6-front end cover, 7-battery compartment, 8-supporting connecting rod, 9-sliding block, 10-compression spring, 11-rear end cover, 12-center shaft, 13-small magnetic block, 14-Hall element, 15-variable pipe diameter pipeline, 16-first positioning block, 17-second positioning block, 18-third positioning block. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the following will be further described in detail with the help of the drawings and examples. It should be understood that the specific examples described here are only used to explain the utility model, and are not used to limit the utility model.

[0021] Examples:

[0022] Reference Figures 1 to 5 Disclosed is a pipeline robot positioning module device with self-adaptive variable pipe diameter, which comprises a battery compartment 7, a front end cover 6 and a rear end cover 11 are respectively screw-connected to the two sides of the battery compartment 7, a gimbal 1 is arranged on the rear end cover 11, and three odometer array components in annular array are arranged in the circumferential direction of the battery compartment 7.

[0023] The odometer array components comprise a first positioning block 16, a second positioning block 17 and a third positioning block 18 which are equidistantly distributed along the outer wall of the battery compartment 7, a first pin shaft 51 is arranged through the third positioning block 18, connecting rods 4 are rotatably sleeved to the two ends of the first pin shaft 51, a center shaft 12 is connected to the end of the connecting rod 4 away from the first pin shaft 51, and an odometer wheel 2 is rotatably arranged on the center shaft 12.

[0024] A sliding block guide rail 3 is arranged between the first positioning block 16 and the second positioning block 17, a sliding block 9 and a compression spring 10 are slidably sleeved on the sliding block guide rail 3, the compression spring 10 is arranged between the first positioning block 16 and the sliding block 9, a supporting connecting rod 8 is hingedly connected to the sliding block 9, the middle portions of the two connecting rods 4 are connected by a second pin shaft 52, and the end of the supporting connecting rod 8 away from the sliding block 9 is rotatably sleeved on the second pin shaft 52.

[0025] A Hall element 14 is arranged on the connecting rod 4, a small magnetic block 13 is arranged on the odometer wheel 2, six small magnets 13 are arranged in the groove of the odometer wheel 2, the small magnetic block 13 is arranged opposite to the Hall element 14, and the small magnetic block 13 on the odometer wheel 2 will pass in front of the Hall element 14 every time the odometer wheel 2 rotates one circle. These Hall elements 14 can record the number of rotations of the wheel. According to the circumference of the wheel and the number of rotations of the wheel, the distance and speed of the robot walking in the pipeline can be calculated, and the accurate position of the defect in the pipeline can be determined.

[0026] Three groups of odometer wheels 2 are designed to work independently, and the best odometer wheel 2 data is selected to improve the accuracy of defect positioning and reduce the influence of unexpected factors.

[0027] A battery is arranged in the battery cabin 7, and is used as a power supply for the Hall element 14.

[0028] The three groups of independent odometer wheels are arranged at an angle of 120° with respect to each other, and are arranged in a ring shape on the battery cabin 7. The compression or stretching of the compression spring 10 enables the odometer wheel 2 to be closely attached to the inner wall of the pipeline, and the odometer wheel 2 is enabled to perform a pure rolling motion on the pipeline wall.

[0029] Further, referring to Fig. 1, Figure 4 As shown in Fig. 1, when the adaptive variable-diameter pipeline robot positioning module passes through the variable-diameter pipeline 15, the diameter of the left end of the variable-diameter pipeline is smaller than the diameter of the right end of the pipeline wall. When the pipeline robot positioning module is located at the left end of the variable-diameter pipeline 15, the pipeline robot positioning module is constrained by the small diameter, the compression spring 10 is compressed under stress, and the sliding block 9 is driven to move leftward on the sliding block guide rail 3. Further, the support connecting rod 8 rotates toward the direction close to the battery cabin 7, and the connecting rod 4 is affected by the movement of the support connecting rod 8 and is contracted inward around the hinged support point of the battery cabin. Through the above-mentioned changes between the connecting rods, the odometer wheel 2 is closely attached to the pipeline wall surface.

[0030] When the pipeline robot positioning module moves from the left end to the right end, the diameter of the variable-diameter pipeline 15 changes from small to large, and the pipeline robot positioning module is affected by the change in the diameter. The compression spring 10 is stretched, and the sliding block 9 is further moved rightward on the sliding block guide rail 3. Further, the support connecting rod 8 rotates away from the direction of the battery cabin 7, and the connecting rod 4 is affected by the movement of the support connecting rod 8 and is expanded outward around the hinged support point of the battery cabin 7. Through the above-mentioned changes between the connecting rods, the odometer wheel 2 is closely attached to the pipeline wall surface.

[0031] Although the present application has been described with reference to a number of explanatory embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope of the principles disclosed herein. More particularly, various modifications and improvements can be made to the compositions of matter and / or methods described herein within the scope of the teachings set forth herein. Those skilled in the art will recognize, or be able to ascertain using no more than routine experimentation, many equivalents to the specific embodiments described herein. It is therefore to be understood that the application can be practiced otherwise than specifically described, without departing from the scope and spirit of the application.

Claims

1. A self-adapting variable pipe diameter pipe robot positioning module apparatus, characterized by: The battery cabin is provided with a front end cover and a rear end cover connected by screws on both sides, the rear end cover is provided with a universal joint, and the battery cabin is circumferentially provided with three odometer assembly components arranged in an annular array; The odometer assembly components include first, second and third positioning blocks equidistantly arranged along the outer wall of the battery cabin, the third positioning block is provided with a first pin shaft penetrating therethrough, both ends of the first pin shaft are rotatably provided with connecting rods, the connecting rods are connected by a center shaft at the ends away from the first pin shaft, and the center shaft is rotatably provided with an odometer wheel; A sliding block guide is arranged between the first and second positioning blocks, a sliding block and a compression spring are rotatably arranged on the sliding block guide, the compression spring is arranged between the first positioning block and the sliding block, a supporting connecting rod is hingedly connected to the sliding block, the middle portions of the two connecting rods are connected by a second pin shaft, and the end of the supporting connecting rod away from the sliding block is rotatably arranged on the second pin shaft; The connecting rods are provided with Hall elements, and the odometer wheel is provided with a small magnetic block.

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