Pipeline robot convenient to adapt to different pipelines

Abstract

The pipeline robot convenient to adapt to the different pipelines comprises a main machine box, main connecting shafts are fixedly installed at the left end and the right end of the main machine box respectively, connecting blocks are fixedly installed on the sides, away from each other, of the two main connecting shafts respectively, and three connecting rods are movably installed on the outer surfaces of the two connecting blocks respectively. According to the pipeline robot convenient to adapt to different pipelines, by arranging an adjusting assembly, two driving motors can be started to drive rotating discs to rotate, the two rotating discs rotate to push a moving block to slide on the inner wall of a U-shaped frame through a traction rod, the moving block moves to pull a connecting rod to move, and the connecting rod moves to drive a driving wheel to move; the driving wheels can abut against the interior of the pipeline, and the pipeline robot body can be stably placed by adjusting the positions of the driving wheels no matter in a narrow small pipeline or a wide large pipeline.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robot technology, specifically a pipeline robot that is easy to adapt to different pipelines. Background Technology

[0002] A pipeline robot is an integrated mechatronics system that can automatically walk along the inside or outside of a narrow pipe, carrying one or more sensors and operating machinery, and performing a series of pipeline operations under the remote control of workers or the automatic control of a computer.

[0003] The diameter of the rollers of current pipeline robots is generally not adjustable, which can cause some problems in use and make it difficult to adapt to pipelines of different diameters. Therefore, a pipeline robot that can easily adapt to different pipelines is proposed to solve the above-mentioned problems. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a pipeline robot that is easy to adapt to different pipes and has the advantages of adapting to pipes of different diameters. It solves the problem that the diameter of the rollers of current pipeline robots is generally not adjustable, which causes certain problems in use and makes it difficult to adapt to pipes of different diameters.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a pipeline robot that is easy to adapt to different pipelines, including a main body box, with main connecting shafts fixedly installed at both the left and right ends of the main body box, and connecting blocks fixedly installed on the opposite sides of the two main connecting shafts, with three connecting rods movably installed on the outer surfaces of the two connecting blocks, and drive wheels rotatably installed at the ends of the two sets of connecting rods away from the connecting blocks.

[0006] An adjustment assembly is fixedly installed inside both of the connecting rods;

[0007] The adjustment assembly includes two drive motors fixedly installed inside the main connecting shafts, turntables fixedly installed at the output shafts of the two drive motors, three traction rods movably installed on the outer surfaces of the two turntables, three U-shaped frames fixedly installed on the inner walls of the two connecting blocks, moving blocks slidably installed on the inner walls of the two sets of U-shaped frames, and rotating shafts rotatably installed inside the two sets of connecting rods.

[0008] Preferably, a turntable is rotatably mounted inside both of the connecting blocks.

[0009] Preferably, one end of each of the two sets of movable blocks is fixedly connected to the surface of the return spring, and the other end of each set of movable blocks away from the return spring is fixedly connected to the surface of the connecting rod.

[0010] Preferably, the surfaces of the two connecting blocks are provided with movable holes that are adapted to the three movable blocks, and each movable hole is slidably connected to the surface of the movable block.

[0011] Preferably, the ends of both sets of traction rods furthest from the turntable are movably connected to the surface of the moving block.

[0012] Preferably, the ends of both sets of moving blocks away from the return spring extend to the outside of the connecting block.

[0013] Preferably, the surfaces of both sets of rotating shafts are fixedly connected to the inner wall of the drive wheel, and each drive wheel is rotatably connected to the connecting rod through the rotating shaft.

[0014] Compared with the prior art, the technical solution of this application has the following beneficial effects:

[0015] This pipe robot, which is easy to adapt to different pipes, can rotate two turntables by setting an adjustment component. The rotation of the two turntables pushes the moving block to slide on the inner wall of the U-shaped frame through the traction rod. The movement of the moving block will pull the connecting rod to move, and the movement of the connecting rod will drive the drive wheel to move, so that the drive wheel can abut against the inside of the pipe. Whether in a narrow small pipe or a relatively wide large pipe, the pipe robot body can ensure its stable placement by adjusting the position of the drive wheel, so that the pipe robot body can adapt to pipes with different inner diameters. Attached Figure Description

[0016] Figure 1 This is a three-dimensional view of the structure of this utility model;

[0017] Figure 2 This is a partial three-dimensional view of the structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the structure of this utility model;

[0019] Figure 4 This is a side sectional view of the structure of this utility model;

[0020] Figure 5 This utility model Figure 4 Enlarged view of the structure at point A in the middle.

[0021] In the diagram: 101, main chassis; 102, main connecting shaft; 103, connecting block; 104, connecting rod; 105, drive wheel; 2, adjustment assembly; 201, drive motor; 202, turntable; 203, traction rod; 204, U-shaped frame; 205, return spring; 206, moving block; 207, rotating shaft. Detailed Implementation

[0022] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0023] Please see Figure 1-5 This embodiment of a pipeline robot that is easy to adapt to different pipelines includes a main body box 101. The main body box 101 has main connecting shafts 102 fixedly installed at both ends. Connecting blocks 103 are fixedly installed on the opposite sides of the two main connecting shafts 102. Three connecting rods 104 are movably installed on the outer surface of the two connecting blocks 103. Drive wheels 105 are rotatably installed on the ends of the two sets of connecting rods 104 away from the connecting blocks 103.

[0024] refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 The pipeline robot consists of a main unit 101, a main connecting shaft 102, a connecting block 103, a connecting rod 104, and a drive wheel 105. The pipeline robot uses multiple positioning technologies such as visual sensors, lidar, and inertial navigation systems to achieve autonomous navigation and positioning inside the pipeline. Through environmental perception and map building, the pipeline robot can accurately identify its own position and plan the optimal path.

[0025] Pipeline robots, by integrating multiple technologies and tools, achieve comprehensive inspection and maintenance of the inside of pipelines. Their efficient working capabilities and intelligent operation make the inspection, maintenance, and repair of pipeline systems more convenient and safer. With the continuous advancement of technology and the expansion of applications, pipeline robots will play an important role in more fields. Through the adjustment component 2, the pipeline robot can adaptively adjust its radial dimension according to the pipe diameter, thus enabling it to work in pipelines with varying diameters. This design allows the pipeline robot to work freely in a range of pipes with different diameters, eliminating the need to design and manufacture robots specifically for pipes of a particular diameter, thereby reducing costs. At the same time, the adjustment component 2 ensures the stability of the pipeline robot inside the pipeline, avoiding instability or overturning caused by changes in pipe diameter.

[0026] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5An adjustment assembly 2 is fixedly installed inside each of the two connecting rods 104. The adjustment assembly 2 includes a drive motor 201 fixedly installed inside each of the two main connecting shafts 102. A turntable 202 is fixedly installed at the output shaft of each of the two drive motors 201. Three traction rods 203 are movably installed on the outer surface of each of the two turntables 202. Three U-shaped frames 204 are fixedly installed on the inner wall of each of the two connecting blocks 103. Moving blocks 206 are slidably installed on the inner wall of each of the two sets of U-shaped frames 204. A rotating shaft 207 is rotatably installed inside each of the two sets of connecting rods 104.

[0027] Specifically, the pipeline robot is a mechatronic system capable of performing inspection, maintenance, and repair operations inside pipelines. To adapt to pipelines of different inner diameters, the pipeline robot employs an adjustment component 2. Two drive motors 201 activate a turntable 202, which in turn propels a moving block 206 to slide along the inner wall of a U-shaped frame 204 via a traction rod 203. This design allows the movement of the moving block 206 to pull a connecting rod 104, thereby moving the drive wheel 105. The drive wheel 105 then contacts the inside of the pipeline, ensuring stable placement in both narrow, small pipelines and relatively wide, large pipelines by adjusting the position of the drive wheel 105. This effectively solves the problem of non-adjustable roller diameters in traditional pipeline robots, improving the adaptability and ease of use of the pipeline robot in different environments.

[0028] The surfaces of the two connecting blocks 103 are provided with movable holes that are adapted to the three moving blocks 206, and each movable hole is slidably connected to the surface of the moving block 206. The ends of the two sets of traction rods 203 away from the turntable 202 are movably connected to the surface of the moving block 206, and the ends of the two sets of moving blocks 206 away from the return spring 205 extend to the outside of the connecting block 103.

[0029] Specifically, the movement of the traction rod 203 will pull the moving block 206 to move. The moving block 206 will move inside the movable hole, and the movement of the moving block 206 will pull the return spring 205 to expand or squeeze the return spring 205. The movement of the moving block 206 will drive the connecting rod 104 to move.

[0030] The surfaces of both sets of rotating shafts 207 are fixedly connected to the inner wall of the drive wheel 105, and each drive wheel 105 is rotatably connected to the connecting rod 104 through the rotating shaft 207.

[0031] Specifically, when the drive wheel 105 contacts the inner wall of the pipe, it can be rotatably connected to the connecting rod 104 via the rotating shaft 207, and the position of the drive wheel 105 can be adjusted to ensure its stable placement.

[0032] The above settings can solve the problem that the diameter of the rollers of current pipeline robots is generally not adjustable, which causes certain problems in use and makes it difficult to adapt to pipes of different diameters. This will enable the pipeline robot to adapt to pipes of different inner diameters and improve the practicality of the device.

[0033] In summary, this pipeline robot, which is adaptable to different pipes, can rotate turntables 202 by activating two drive motors 201 through the adjustment component 2. The rotation of the two turntables 202 pushes the moving block 206 to slide on the inner wall of the U-shaped frame 204 through the traction rod 203. The movement of the moving block 206 pulls the connecting rod 104 to move, and the movement of the connecting rod 104 drives the drive wheel 105 to move, so that the drive wheel 105 can abut against the inside of the pipe. Whether in a narrow small pipe or a relatively wide large pipe, the pipeline robot can ensure its stable placement by adjusting the position of the drive wheel 105, so that the pipeline robot can adapt to pipes with different inner diameters.

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pipeline robot that is easy to adapt to different pipelines, characterized in that: Includes a main chassis (101), with main connecting shafts (102) fixedly installed at both the left and right ends of the main chassis (101), and connecting blocks (103) fixedly installed on the opposite sides of the two main connecting shafts (102). Three connecting rods (104) are movably installed on the outer surface of the two connecting blocks (103), and drive wheels (105) are rotatably installed at the ends of the two sets of connecting rods (104) away from the connecting blocks (103). An adjustment assembly (2) is fixedly installed inside both of the connecting rods (104); The adjustment assembly (2) includes two main connecting shafts (102) with drive motors (201) fixedly installed inside each. Turntables (202) are fixedly installed at the output shafts of the two drive motors (201). Three traction rods (203) are movably installed on the outer surfaces of the two turntables (202). Three U-shaped frames (204) are fixedly installed on the inner walls of the two connecting blocks (103). Moving blocks (206) are slidably installed on the inner walls of the two sets of U-shaped frames (204). Rotating shafts (207) are rotatably installed inside the two sets of connecting rods (104).

2. The pipeline robot according to claim 1, which is adaptable to different pipelines, is characterized in that: Both of the connecting blocks (103) have turntables (202) rotatably mounted inside them.

3. The pipeline robot according to claim 1, which is adaptable to different pipelines, is characterized in that: One end of each of the two sets of moving blocks (206) is fixedly connected to the surface of the return spring (205), and the other end of each of the two sets of moving blocks (206) away from the return spring (205) is fixedly connected to the surface of the connecting rod (104).

4. A pipeline robot adaptable to different pipelines according to claim 1, characterized in that: The surfaces of the two connecting blocks (103) are provided with movable holes that are adapted to the three movable blocks (206), and each movable hole is slidably connected to the surface of the movable block (206).

5. A pipeline robot adaptable to different pipelines according to claim 1, characterized in that: The ends of both sets of traction rods (203) away from the turntable (202) are movably connected to the surface of the moving block (206).

6. A pipeline robot adaptable to different pipelines according to claim 1, characterized in that: Both sets of moving blocks (206) extend to the outside of the connecting block (103) at the end away from the return spring (205).

7. A pipeline robot adaptable to different pipelines according to claim 1, characterized in that: The surfaces of both sets of rotating shafts (207) are fixedly connected to the inner wall of the drive wheel (105), and each drive wheel (105) is rotatably connected to the connecting rod (104) through the rotating shaft (207).

Images