Pipeline robot

Abstract

A pipeline robot belongs to the technical field of pipeline engineering elements, is used for bearing an operation executing mechanism and driving the operation executing mechanism to operate in a pipeline, and comprises a machine body, at least three groups of supporting arms and at least three driving mechanisms, the machine body extends in the axial direction of the pipeline, and at least three walking mechanisms are evenly distributed on the peripheral side of the machine body in the circumferential direction of the machine body and used for driving the machine body to move in the axial direction of the pipeline. The supporting arms correspond to the walking mechanisms one to one, one ends of the supporting arms are hinged to the machine body, and the other ends of the supporting arms are hinged to the corresponding walking mechanisms. The driving mechanisms correspond to the supporting arms one to one and are used for driving the corresponding supporting arms to rotate around the hinge points of the supporting arms and the machine body so as to adjust the radial distance between the walking mechanism and the machine body. The pipeline robot solves the problem that the radial distance between a walking mechanism and a machine body of an existing pipeline robot is fixed by flexibly adjusting the radial distance between the walking mechanism and the machine body, and can adapt to pipelines with different inner diameters.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of pipeline engineering elements, and particularly relates to a pipeline robot. BACKGROUND

[0002] The radial distance between the walking mechanism and the body of the current pipeline robot is fixed, and it is difficult to adapt to pipelines with different inner diameters. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the application provides a pipeline robot, which mainly aims to flexibly adjust the radial distance between the walking mechanism and the body.

[0004] To achieve the above-mentioned purpose, the application mainly provides the following technical scheme:

[0005] The application provides a pipeline robot for carrying a work execution mechanism and driving the work execution mechanism to work in a pipeline, and the pipeline robot comprises:

[0006] A body extending in the axial direction of the pipeline, and at least three walking mechanisms uniformly distributed on the outer circumferential side of the body along the circumferential direction of the body, and the at least three walking mechanisms being used to drive the body to move in the axial direction of the pipeline;

[0007] At least three groups of support arms, the support arms being arranged in one-to-one correspondence with the walking mechanisms, one end of the support arm being hingedly connected to the body, and the other end being hingedly connected to the corresponding walking mechanism;

[0008] At least three driving mechanisms, the driving mechanisms being arranged in one-to-one correspondence with the support arms, and the driving mechanisms being used to drive the corresponding support arms to rotate around the hinge points of the support arms and the body, so as to adjust the radial distance between the walking mechanism and the body.

[0009] Optionally, each group of support arms comprises two driving rods, two connecting rods and two support rods;

[0010] The two driving rods, the two connecting rods and the two support rods are arranged in opposition on the two sides of the walking mechanism;

[0011] The driving rod is connected to the driving mechanism of the corresponding support arm, the connecting rod is parallel to the driving rod on the same side, and the support rod is arranged in cross with the connecting rod on the same side.

[0012] Optionally, the body is sequentially provided with a first hinge support, a second hinge support and a third hinge support in the reverse direction of the axial advancing direction of the body in the pipeline on the body;

[0013] The first and second hinged supports are fixedly arranged on the machine body, wherein the driving rod is hinged to the first hinged support, and the connecting rod is hinged to the second hinged support.

[0014] The third hinged support is movably arranged on the machine body, and the supporting rod is hinged to the third hinged support.

[0015] Optionally, the second hinged support is provided with a guide structure on the side away from the first hinged support, the guide structure has a guide rod extending axially along the machine body, and the third hinged support is slidingly arranged on the guide rod.

[0016] Optionally, the supporting rod of each set of supporting arms comprises a fixed rod and a movable rod.

[0017] One end of the fixed rod is hinged to the corresponding walking mechanism, and the other end is an open end, one end of the movable rod is telescopically inserted into the open end of the fixed rod, and the other end of the movable rod is hinged to the third hinged support.

[0018] The portion of the movable rod outside the fixed rod is sleeved with a spring, and the two ends of the spring abut against the end of the fixed rod and the outer circumferential flange of the movable rod, respectively.

[0019] Optionally, a long strip-shaped limiting groove is formed in the inner wall of the fixed rod along the axial direction of the fixed rod, and a limiting column is arranged on the outer circumferential wall of the movable rod and is slidingly embedded in the limiting groove to limit the telescopic stroke of the movable rod relative to the fixed rod.

[0020] Optionally, the driving mechanism comprises a driving unit, a rotating plate and a push-pull rod.

[0021] The driving unit is fixedly arranged on the first hinged support, the output end of the driving unit is fixedly connected with the rotating plate, and the rotating plate is driven to rotate about the central axis thereof.

[0022] The rotating plate is provided with a convex portion at a position away from the central axis thereof, one end of the push-pull rod is hinged to the convex portion, and the other end is hinged to the driving rod of the corresponding supporting arm, so that the driving rod is rotated about the first hinged support by the rotation of the rotating plate to drive the push-pull rod to push and pull the driving rod.

[0023] Optionally, the work execution mechanism is arranged at one end of the machine body along the advancing direction of the pipeline through a detachable connecting structure.

[0024] Optionally, the detachable connecting structure comprises a fixed seat, a rotating seat and a plurality of jacks.

[0025] The fixed seat is fixedly arranged at one end of the machine body along the pipeline advancing direction, and the rotating seat is fixedly arranged at one end of the work execution mechanism close to the fixed seat, and the rotating seat is oppositely arranged with the fixed seat;

[0026] The end face of the fixed seat close to the rotating seat is uniformly distributed with a plurality of fixing nails along the circumferential direction of the fixed seat, and the end of the fixing nail away from the fixed seat is provided with a nail cap with a radial dimension greater than the rod part of the fixing nail;

[0027] A plurality of through grooves are arranged on the rotating seat corresponding to the positions of the plurality of fixing nails, the through grooves correspond to the fixing nails one by one and extend along the circumferential direction of the rotating seat, the through grooves include a flared end, a guide section and a limiting end, the slot size of the flared end is greater than the radial dimension of the nail cap, the groove width of the guide section is matched with the diameter of the rod part of the fixing nail, and the groove wall of the limiting end is used to abut against the outer peripheral wall of the rod part of the fixing nail;

[0028] The nail cap is used to fit on the side end face of the rotating seat away from the fixed seat, and the radial dimension of the nail cap is greater than the groove width of the guide section and the groove width of the limiting end;

[0029] A plurality of top screws are uniformly screwed on the rotating seat along the circumferential direction of the rotating seat, the axis of the top screw is arranged along the axial direction of the rotating seat, and one end of the top screw can penetrate to the side of the rotating seat close to the fixed seat and abut against the end face of the fixed seat.

[0030] Optionally, a slewing unit is fixedly arranged at one end of the machine body along the pipeline advancing direction, the output shaft of the slewing unit is fixedly connected with the fixed seat of the detachable connection structure, and is used to drive the fixed seat to rotate the work execution mechanism around the axial direction of the machine body.

[0031] By the above technical scheme, the present application has at least the following beneficial effects:

[0032] The pipeline robot provided in the present application can flexibly adjust the radial distance between the walking mechanism and the machine body by arranging the support arm and the driving mechanism corresponding to the walking mechanism, thereby solving the problem of fixed radial distance between the walking mechanism and the machine body of the existing pipeline robot, and adapting to pipelines with different inner diameters. Meanwhile, the at least three walking mechanisms uniformly distributed on the outer peripheral side of the machine body can ensure that the pipeline robot can be stably supported and moved in the axial direction in pipelines with different inner diameters, thereby ensuring that the work execution mechanism can smoothly complete the work in the pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0033] Figure 1 It is a three-dimensional structure schematic diagram of the pipeline robot of an optional embodiment of the present application;

[0034] Figure 2 A perspective view of a pipe robot according to another alternative embodiment of the present application;

[0035] Figure 3 A perspective view of a detachable connecting structure according to an alternative embodiment of the present application.

[0036] Reference signs are indicated as follows:

[0037] 1, work execution mechanism; 2, machine body; 3, traveling mechanism; 4, support arm; 41, driving rod; 42, connecting rod; 43, support rod; 431, fixed rod; 432, movable rod; 433, spring; 5, driving mechanism; 51, driving unit; 52, rotating plate; 53, push-pull rod; 6, first hinged support; 7, second hinged support; 8, third hinged support; 9, guide structure; 10, detachable connecting structure; 101, fixed seat; 102, rotating seat; 103, jackscrew; 104, fixing nail; 105, through slot. DETAILED DESCRIPTION

[0038] In the description of the present application, it needs to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate the orientation or positional relationship shown in the drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present application.

[0039] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0040] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and are not used to limit the present application.

[0042] With reference to Figures 1 to 3 As shown in the drawings, according to the embodiments of the present application, a pipeline robot is provided for carrying a work execution mechanism 1 and driving the work execution mechanism 1 to work in the pipeline. The pipeline robot comprises a body 2, at least three sets of support arms 4 and at least three driving mechanisms 5. The body 2 extends along the axial direction of the pipeline. The outer circumferential side of the body 2 is uniformly distributed with at least three walking mechanisms 3 along the circumferential direction of the body 2. The at least three walking mechanisms 3 are used to drive the body 2 to move along the axial direction of the pipeline. The support arms 4 are arranged in one-to-one correspondence with the walking mechanisms 3. One end of the support arm 4 is hingedly connected to the body 2, and the other end is hingedly connected to the corresponding walking mechanism 3. The driving mechanism 5 is arranged in one-to-one correspondence with the support arm 4. The driving mechanism 5 is used to drive the corresponding support arm 4 to rotate around the hinge point of the body 2, so as to adjust the radial distance between the walking mechanism 3 and the body 2.

[0043] The pipeline robot provided in the embodiments of the present application can flexibly adjust the radial distance between the walking mechanism 3 and the body 2 by driving the support arm 4 to rotate around the hinge point of the body 2, thereby solving the problem of fixed radial distance between the walking mechanism 3 and the body 2 of the existing pipeline robot. The pipeline robot can be adapted to pipelines with different inner diameters. Meanwhile, the at least three walking mechanisms 3 uniformly distributed on the outer circumferential side of the body 2 can ensure that the pipeline robot can be stably supported and moved along the axial direction in pipelines with different inner diameters, thereby ensuring that the work execution mechanism 1 can successfully complete the work in the pipeline.

[0044] The work execution mechanism 1 can be flexibly configured according to actual pipeline work requirements, such as Figure 1 a cleaning device, Figure 2 a spraying device or a monitoring device (not shown), etc. The specific type of the work execution mechanism 1 is not limited in the embodiments. In the embodiments, the pipeline robot is used to move the work execution mechanism 1 inside the pipeline and complete the work.

[0045] The pipeline robot comprises the body 2, which extends along the length direction of the pipeline and is consistent with the direction of the pipeline, and is equivalent to the trunk of the pipeline robot, and is used to install the support arm 4 and the driving mechanism 5, and carry the work execution mechanism 1.

[0046] Specifically, in some examples, the body 2 is a cylindrical structure.

[0047] At least three walking mechanisms 3 are evenly installed on the outside of the body 2 along its circumference, for example, three or four. The walking mechanisms 3 are equivalent to the legs of the pipeline robot, providing driving force to propel the body 2 and the work execution mechanism 1 along the axial direction of the pipeline, that is, the length of the pipeline.

[0048] Specifically, in some examples, the walking mechanism 3 is a tracked structure.

[0049] Each walking mechanism 3 is equipped with a set of support arms 4. The support arms 4 are equivalent to the legs connecting the body 2 (torso) and the walking mechanism 3 (feet). One end of the support arm 4 is hinged to the body 2, and the other end is hinged to the outer shell of the corresponding walking mechanism 3.

[0050] Specifically, in some examples, the hinge is a movable connection structure that can rotate relative to each other, such as through connecting parts such as pins and hinges, which allows the support arm 4 to swing flexibly around the hinge point, thereby reserving sufficient travel for subsequent adjustment of the radial distance between the walking mechanism 3 and the body 2.

[0051] Each set of support arms 4 is equipped with a drive mechanism 5. The drive mechanism 5 is the power source for the support arm 4, such as a motor or hydraulic push rod, and is used to drive the support arm 4 to rotate around the hinge point between the support arm 4 and the body 2, such as swinging the support arm 4 outward or retracting it inward.

[0052] Specifically, when the inner diameter of the pipe changes, the drive mechanism 5 synchronously drives the corresponding support arm 4 to rotate around its hinge point with the machine body 2: facing a pipe with a larger inner diameter, the support arm 4 swings outward, thereby increasing the radial distance between the traveling mechanism 3 and the machine body 2, i.e., expanding the traveling mechanism 3; facing a pipe with a smaller inner diameter, the support arm 4 retracts inward, reducing the radial distance, i.e., contracting the traveling mechanism 3, ensuring that all traveling mechanisms 3 are always tightly fitted to the inner wall of pipes with different inner diameters. At the same time, at least three traveling mechanisms 3 evenly distributed circumferentially on the outer periphery of the machine body 2 can form a stable support inside the pipe based on a tripod-like stabilization principle. Combined with the axial driving force provided by the traveling mechanism 3, they drive the work execution mechanism 1 to move smoothly, ensuring efficient completion of the operation.

[0053] In some possible implementations disclosed in this application, see [link to relevant documentation]. Figure 1 and Figure 2 As shown, each set of support arms 4 includes two drive rods 41, two connecting rods 42, and two support rods 43; the two drive rods 41, two connecting rods 42, and two support rods 43 are all arranged opposite each other along both sides of the walking mechanism 3; the drive rods 41 are connected to the drive mechanism 5 of the corresponding support arm 4, the connecting rods 42 are parallel to the drive rods 41 on the same side, and the support rods 43 are arranged crosswise with the connecting rods 42 on the same side.

[0054] In this embodiment, by arranging two driving rods 41, two connecting rods 42 and two supporting rods 43 on both sides of the walking mechanism 3 in a symmetrical and balanced manner, and arranging the driving rods 41 and the connecting rods 42 on the same side in parallel and arranging the supporting rods 43 and the connecting rods 42 in cross, a symmetrical and balanced stress structure is formed, the load stability and the stress transmission uniformity of the support arm 4 to the walking mechanism 3 are effectively improved, and the deviation of the walking mechanism 3 or the deformation of the support arm 4 caused by unilateral stress is avoided; in addition, by means of the parallel arrangement of the driving rods 41 and the connecting rods 42, the stable and precise extension and retraction movement of the support arm 4 is realized by cooperating with the driving mechanism 5, and the overall structural rigidity and anti-deformation ability of the support arm 4 are further improved by the cross arrangement of the supporting rods 43, so that the operation reliability and controllability of the support arm 4 during the adjustment of the radial distance between the walking mechanism 3 and the body 2 are ensured, and then the stable support state and smooth movement performance of the pipeline robot in different inner diameter pipelines are ensured, which lays a solid foundation for the efficient completion of the in-pipeline operation of the operation execution mechanism 1.

[0055] Each group of support arms 4 is composed of two driving rods 41, two connecting rods 42 and two supporting rods 43, i.e. six rods, all of which are arranged symmetrically and oppositely on both sides of the walking mechanism 3 as the center, i.e. one driving rod 41, one connecting rod 42 and one supporting rod 43 are arranged on one side of the walking mechanism 3, and the same three rods are arranged on the other side, forming a symmetrical structure.

[0056] The driving rod 41 is the core of power transmission, one end of which is directly connected with the corresponding driving mechanism 5 of the support arm 4 for receiving the power of the driving mechanism 5, the connecting rod 42 on the same side is arranged in parallel with the driving rod 41 to assist in supporting and synchronously linking, and the supporting rod 43 on the same side is arranged in cross with the connecting rod 42, similar to an X-shaped cross structure, forming a stable triangular support logic. Under this arrangement, when the driving mechanism 5 drives the driving rod 41 to rotate, the driving rod 41 and the connecting rod 42 arranged in parallel will synchronously drive the walking mechanism 3 to move, and the cross supporting rod 43 can limit the invalid deformation of the rod, ensuring the stability and accuracy during adjustment.

[0057] In some possible implemented embodiments of the present application, as shown in Figure 1 and Figure 2 The first hinged support 6, the second hinged support 7 and the third hinged support 8 are sequentially arranged on the body 2 in the opposite direction of the axial advancing direction of the body 2 in the pipeline; the first hinged support 6 and the second hinged support 7 are fixedly arranged on the body 2, wherein the driving rod 41 is hinged with the first hinged support 6, and the connecting rod 42 is hinged with the second hinged support 7; the third hinged support 8 is movably arranged on the body 2, and the supporting rod 43 is hinged with the third hinged support 8.

[0058] In this embodiment, by sequentially arranging the fixed first hinged support 6, the second hinged support 7 and the movable third hinged support 8 on the body 2 in the opposite direction of the axial direction of the pipeline, and the driving rod 41 is hinged with the first hinged support 6, the connecting rod 42 is hinged with the second hinged support 7, and the supporting rod 43 is hinged with the third hinged support 8, both the driving rod 41, the connecting rod 42 and the supporting rod 43 are provided with accurate and suitable mounting support points, ensuring the stable and reliable connection of each rod with the body 2; and through the movable design of the third hinged support 8, the angle change requirement of the supporting rod 43 in the cross arrangement state is adapted when the supporting arm 4 is adjusted, avoiding the jamming or stress concentration of the rod during movement, and further ensuring the smoothness, accuracy and structural stability of the supporting arm 4, making the supporting arm 4 more flexible and reliable when adjusting the radial distance between the walking mechanism 3 and the body 2, thereby improving the adaptability and operation stability of the pipeline robot in different inner diameter pipelines.

[0059] Among them, the first hinged support 6 and the second hinged support 7 are fixed on the body 2, that is, fixed supports. The fixed supports provide stable hinged support points for the driving rod 41 and the connecting rod 42, ensuring the reliability of power transmission and auxiliary support.

[0060] Specifically, in some examples, the first hinged support 6 and the second hinged support 7 are a plurality of block structures distributed circumferentially; in other examples, the first hinged support 6 and the second hinged support 7 are a continuous annular structure. In this embodiment, the first hinged support 6 and the second hinged support 7 are both three block structures distributed circumferentially along the body 2, which correspond to the three groups of supporting arms 4 on the outer circumferential side of the body 2 one by one, and the two side surfaces of each block structure are hinged with the driving rod 41 and the connecting rod 42 on both sides of the corresponding group of supporting arms 4 respectively, thereby realizing the stable connection of the driving rod 41 and the first hinged support 6, and the connecting rod 42 and the second hinged support 7 of each group of supporting arms 4.

[0061] Among them, the third hinged support 8 is a movable structure, which can slide along the axial direction of the body 2, and is used to be hinged with the supporting rod 43. When the angle of the supporting rod 43 changes due to the adjustment of the supporting arm 4, the third hinged support 8 can slide synchronously along the axial direction of the body 2 to adjust the position, so as to adapt to the motion trail of the supporting rod 43, effectively avoid the jamming phenomenon or stress concentration of the supporting rod 43 during rotation, and further ensure the smooth and reliable linkage action between the driving rod 41, the connecting rod 42 and the supporting rod 43, ensuring the accurate and efficient adjustment of the supporting arm 4.

[0062] Specifically, in the embodiment, the third hinge support 8 adopts a continuous annular structure extending along the circumference of the machine body 2, and three protrusions are arranged on the outer circumferential surface of the third hinge support 8, which correspond to the three groups of support arms 4 on the outer circumferential side of the machine body 2; the two side surfaces of each protrusion are respectively hingedly connected to the support rods 43 on the two sides of the walking mechanism 3 in the corresponding group of support arms 4, so as to realize the stable connection of the support rods 43 and the third hinge support 8, and at the same time, adapt to the sliding requirement of the third hinge support 8 along the axial direction of the machine body 2.

[0063] In the above embodiment, as shown in Figure 1 and Figure 2 , the second hinge support 7 is provided with a guide structure 9 on the side away from the first hinge support 6, and the guide structure 9 has a guide rod extending along the axial direction of the machine body 2, and the third hinge support 8 is slidingly arranged on the guide rod.

[0064] Here, by arranging the guide structure 9 with the guide rod extending along the axial direction of the machine body 2 on the side of the second hinge support 7 away from the first hinge support 6, and slidingly arranging the third hinge support 8 on the guide rod, a precise guide path is provided for the movement of the third hinge support 8, so as to ensure the smooth sliding of the third hinge support 8 along the axial direction of the machine body 2 without deviation, and at the same time, the freedom degree of movement of the third hinge support 8 is limited, so as to avoid the shaking or jamming of the third hinge support 8 when adapting to the angle change of the support rod 43, and further, the stress borne by the third hinge support 8 is dispersed, and the structural stability of the third hinge support 8 during sliding is enhanced, so as to ensure the smooth linkage of the support rod 43 and the third hinge support 8, and the stretching and retracting adjustment action of the support arm 4 is more accurate and reliable, thereby providing strong support for the pipe robot to adapt to different inner diameter pipes and stably work.

[0065] In some possible implemented embodiments disclosed in the present application, as shown in Figure 1 and Figure 2 , the support rod 43 of each group of support arms 4 comprises a fixed rod 431 and a movable rod 432; one end of the fixed rod 431 is hingedly connected to the corresponding walking mechanism 3, and the other end is an open end; one end of the movable rod 432 is telescopically inserted into the open end of the fixed rod 431, and the other end of the movable rod 432 is hingedly connected to the third hinge support 8; a spring 433 is sleeved on the part of the movable rod 432 outside the fixed rod 431, and the two ends of the spring 433 are respectively abutted against the end of the fixed rod 431 and the outer circumferential flange of the movable rod 432.

[0066] In this embodiment, by setting the support rod 43 as a combination of a fixed rod 431 and a movable rod 432 telescopically inserted into the open end of the fixed rod 431, and setting a spring 433 around the part of the movable rod 432 outside the fixed rod 431, with the two ends of the spring 433 abutting against the end of the fixed rod 431 and the flange on the outer periphery of the movable rod 432 respectively, on the one hand, the telescopic cooperation of the fixed rod 431 and the movable rod 432 further adapts to the length and angle change requirements of the support rod 43 during the adjustment of the support arm 4, makes up for the activity limitation of the rigid rod, avoids interference with the linkage of the third articulated support 8 and the walking mechanism 3; on the other hand, with the elastic support action of the spring 433, the instantaneous impact force during the adjustment of the support arm 4 and the movement of the robot can be buffered, the stress fluctuation caused by the slight protrusions or unevenness of the inner wall of the pipeline is compensated, the walking mechanism 3 and the inner wall of the pipeline always maintain flexible and stable adhesion, and the impact resistance and self-adaptive adjustment performance of the support arm 4 are enhanced, so that the telescopic adjustment of the support arm 4 is more stable and the stress is more balanced, and the adaptability, running stability and operation reliability of the pipeline robot in the complex inner diameter pipeline environment are improved.

[0067] Wherein, one end of the fixed rod 431 is articulated with the walking mechanism 3, and its position changes synchronously with the walking mechanism 3; the other end is an open end; one end of the movable rod 432 is telescopically inserted into the open end of the fixed rod 431; the other end is articulated with the third articulated support 8, forming a telescopic structure of rod-in-rod, so that the overall length of the support rod 43 can be adjusted as required.

[0068] Wherein, the spring 433 is sleeved around the part of the movable rod 432 outside the fixed rod 431, and the two ends of the spring 433 abut against the end of the fixed rod 431 and the flange on the outer periphery of the movable rod 432 respectively, the flange is used to limit the position of the spring 433, so that the spring 433 is always in a pre-pressed or elastically deformable state.

[0069] Specifically, when the support arm 4 is adjusted and the angle and length of the support rod 43 need to be adapted, the movable rod 432 can be telescoped relative to the fixed rod 431, and the spring 433 will be compressed or rebounded with the telescopic action: through the length change of the telescopic adapter linkage, it avoids jamming; through the elastic buffer impact force of the spring 433, it compensates the stress fluctuation caused by the slight unevenness of the inner wall of the pipeline, so that the walking mechanism 3 and the inner wall of the pipeline are more stable in adhesion.

[0070] In the above embodiment, referring to Figure 1 and Figure 2 It is shown that the inner wall of the fixed rod 431 is provided with a long strip-shaped limiting slot along the axial direction of itself, and the outer peripheral wall of the movable rod 432 is provided with a limiting column matched with the limiting slot, the limiting column is slidingly embedded in the limiting slot to limit the telescopic stroke of the movable rod 432 relative to the fixed rod 431.

[0071] Here, by opening an elongated limiting groove along the axial direction on the inner wall of the fixed rod 431, and setting a limiting post on the outer peripheral wall of the movable rod 432 that is adapted to and slidably embedded in the limiting groove, the extension and retraction stroke of the movable rod 432 relative to the fixed rod 431 can be precisely limited. This prevents the movable rod 432 from detaching from the open end of the fixed rod 431 due to excessive extension or retraction, or from being over-inserted, which could cause structural jamming. At the same time, the sliding cooperation between the limiting post and the limiting groove can guide the movable rod 432 to extend and retract smoothly along the axial direction of the fixed rod 431, preventing the movable rod 432 from rotating or shifting circumferentially relative to the fixed rod 431. This ensures the directionality and reliability of the extension and retraction of the support rod 43, thereby ensuring that the spring 433 is always within the effective elastic deformation range. The extension and retraction adjustment and elastic buffering functions of the support arm 4 are stably performed, providing structural protection for the stable operation of the pipeline robot in pipelines with different inner diameters.

[0072] In some possible implementations disclosed in this application, see [link to relevant documentation]. Figure 1 and Figure 2 As shown, the drive mechanism 5 includes a drive unit 51, a rotating plate 52, and a push-pull rod 53. The drive unit 51 is fixedly mounted on the first hinge support 6. The output end of the drive unit 51 is fixedly connected to the rotating plate 52 and is used to drive the rotating plate 52 to rotate around its own central axis. The rotating plate 52 has a protrusion at a position away from its own central axis. One end of the push-pull rod 53 is hinged to the protrusion, and the other end is hinged to the drive rod 41 of the corresponding support arm 4. The rotation of the rotating plate 52 drives the push-pull rod 53 to push and pull the drive rod 41, so that the drive rod 41 rotates around the first hinge support 6.

[0073] In this embodiment, by fixing the drive unit 51 to the first hinge support 6, connecting its output end to the rotating plate 52 and driving it to rotate, and then using the protrusion of the rotating plate 52 away from the central axis to hinge the push-pull rod 53, and the other end of the push-pull rod 53 to hinge the drive rod 41, the power of the drive unit 51 is accurately transmitted. The rotation of the rotating plate 52 is converted into a linear push-pull action of the push-pull rod 53, which drives the drive rod 41 to rotate stably around the first hinge support 6, ensuring that the power output of the support arm 4 is stable and the action is controllable. At the same time, the eccentric setting of the protrusion and the hinge cooperation reduce the stress concentration in the transmission process and improve the smoothness of the mechanism operation. Meanwhile, the overall structure is compact and integrated with the first hinge support 6, saving installation space and enhancing the connection stability, ensuring that the drive mechanism 5 can continuously provide reliable driving force to the support arm 4, thereby ensuring the pipeline robot's ability to adapt to and adjust pipelines with different inner diameters and to operate stably.

[0074] When the first hinged support 6 is in a block structure, the driving unit 51 is fixedly installed on the top surface of the block structure. For example, a power source such as a motor is fixed to the top surface of the first hinged support 6 by fasteners, and the motor shaft is fixedly connected with the rotating plate 52 to directly drive the rotating plate 52 to rotate around the central axis thereof, thereby providing a stable starting point for power transmission of the driving mechanism 5.

[0075] The rotating plate 52 is provided with a protrusion such as a pin shaft or a protruding structure at an eccentric position away from the central axis of the rotating plate 52, and one end of the push-pull rod 53 is connected with the protrusion by hinging such as a pin shaft connection, and the other end is also connected with the driving rod 41 of the support arm 4 by hinging to form an active connection transmission link.

[0076] Specifically, when the driving unit 51 is working, the rotating plate 52 rotates around the center, and the eccentrically arranged protrusion moves in a circular motion with the rotating plate 52, thereby driving the push-pull rod 53 to produce a reciprocating pushing and pulling action through the hinging point: when the rotating plate 52 rotates one revolution, the protrusion moves on a trajectory close to or away from the driving rod 41, and the push-pull rod 53 pushes and pulls the driving rod 41 accordingly, forcing the driving rod 41 to rotate around the hinging point with the first hinged support 6, and to swing outward or inward. Thus, the power of the driving unit 51 is stably transmitted to the driving rod 41, and the adjustment of the support arm 4 is realized.

[0077] Further, the driving mechanism 5 is a symmetrical structure, and the driving unit 51, the rotating plate 52 and the push-pull rod 53 are correspondingly arranged on both sides of the driving rod 41 relative to the walking mechanism 3. Based on this, on the one hand, balanced and synchronous driving force can be provided for the driving rod 41 on both sides of the walking mechanism 3, to ensure that the rotation angles and speeds of the driving rod 41 on both sides around the first hinged support 6 are completely consistent, to avoid the deviation of the support arm 4 or the inclination of the walking mechanism 3 due to unbalanced one-sided power output, to ensure the symmetry and stability of the extension and retraction adjustment of the support arm 4; on the other hand, the symmetrical structure can make the stress of the driving mechanism 5 more uniform, disperse the bearing pressure of individual components, reduce stress concentration in the transmission process, improve the running smoothness and service life of the driving mechanism 5, and further strengthen the stable support and precise driving of the support arm 4 to the walking mechanism 3, to ensure that the pipeline robot moves coordinately and stably adheres to the inner wall of the pipeline when adjusting the radial distance, thereby improving the overall operation reliability.

[0078] In some possible implementation embodiments disclosed in the present application, referring to FIG. 1, Figure 1 As shown in the figure, the work execution mechanism 1 is arranged at one end of the machine body 2 in the advancing direction of the pipeline through the detachable connection structure 10.

[0079] In this embodiment, by detachably arranging the work execution mechanism 1 at one end of the machine body 2 along the pipeline advancing direction, flexible assembly and disassembly of the work execution mechanism 1 and the machine body 2 are realized, the work execution mechanism 1 can be quickly replaced according to the actual pipeline work requirements, such as cleaning, spraying, monitoring, etc., the work scene adaptability and multi-functional reusability of the pipeline robot are greatly improved, the maintenance, repair or replacement process of the work execution mechanism 1 is simplified, the operation difficulty and maintenance cost are reduced, and the work execution mechanism 1 can be accurately aligned with the work area, ensuring the work effect, so that the pipeline robot can adapt to various pipeline work requirements without overall modification, improving the equipment utilization and work efficiency.

[0080] In the above embodiment, referring to Figure 2 Figures 1 to 3 Figure 3 The detachable connection structure 10 includes a fixed seat 101, a rotating seat 102 and a plurality of jackscrews 103. The fixed seat 101 is fixedly arranged at one end of the machine body 2 along the pipeline advancing direction, the rotating seat 102 is fixedly arranged at one end of the work execution mechanism 1 close to the fixed seat 101, and the rotating seat 102 is oppositely arranged with the fixed seat 101. A plurality of fixed nails 104 are uniformly distributed on the end face of the fixed seat 101 close to the rotating seat 102 along the circumferential direction of the fixed seat 101. The end of the fixed nail 104 away from the fixed seat 101 is provided with a nail cap with a radial dimension larger than the rod part of the fixed nail 104. A plurality of through grooves 105 are formed on the rotating seat 102 corresponding to the positions of the plurality of fixed nails 104. The through groove 105 corresponds to the fixed nail 104 one by one and extends along the circumferential direction of the rotating seat 102. The through groove 105 includes an expanded port end, a guide section and a limiting end. The slot size of the expanded port end is larger than the radial dimension of the nail cap. The groove width of the guide section is matched with the diameter of the rod part of the fixed nail 104. The groove wall of the limiting end is used to abut with the outer wall of the rod part of the fixed nail 104. The nail cap is used to fit on the side end face of the rotating seat 102 away from the fixed seat 101, and the radial dimension of the nail cap is larger than the groove width of the guide section and the limiting end. A plurality of jackscrews 103 are uniformly screwed on the rotating seat 102 along the circumferential direction of the rotating seat 102. The axis of the jackscrew 103 is arranged along the axial direction of the rotating seat 102. One end of the jackscrew 103 can penetrate to the side of the rotating seat 102 close to the fixed seat 101 and abut with the end face of the fixed seat 101.

[0081] Here, through the corresponding cooperation of the fixed seat 101 and the rotating seat 102, the precise fitting of the fixed nails 104 and the through grooves 105, and the axial limiting of the rotating seat 102 by the nail caps, the quick alignment and clamping installation of the operation execution mechanism 1 and the machine body 2 are realized, and the assembly efficiency is greatly improved. At the same time, the uniform distribution of the jackscrews 103 along the circumference of the rotating seat 102 tightly abuts against the end face of the fixed seat 101, forming a multi-point uniform compression fixation, effectively enhancing the stability and anti-vibration ability of the connection structure, and avoiding the loosening or deviation of the operation execution mechanism 1 during the operation of the robot. At the same time, the overall structure takes into account the quick disassembly and connection reliability, which not only facilitates the flexible replacement of the operation execution mechanism 1 according to the operation requirements, but also ensures the accurate positioning of the operation execution mechanism 1 during the movement and operation of the pipeline robot through the double fixation of mechanical limiting and compression of the jackscrews 103, thereby stabilizing the operation effect and further improving the practicality and operation reliability of the pipeline robot.

[0082] Among them, the fixed seat 101 is fixed at one end of the machine body 2 along the pipeline advancing direction, and the rotating seat 102 is fixed at one end of the operation execution mechanism 1 close to the machine body 2, and the two are installed in opposite directions to form a connection base. A plurality of fixed nails 104 are uniformly distributed along the circumferential direction on the abutting end face of the fixed seat 101, and the end of each fixed nail 104 is provided with a nail cap thicker than the nail rod (the rod part of the fixed nail 104), which is similar to a mushroom head structure. A plurality of through grooves 105 extending along the circumferential direction are formed on the rotating seat 102 corresponding to the positions of the fixed nails 104, and the through grooves 105 correspond one-to-one to the fixed nails 104.

[0083] Among them, the through groove 105 includes an expanded end, a guide section and a limiting end. The opening size of the expanded end is larger than the nail cap, which facilitates the quick penetration of the nail cap of the fixed nail 104, and allows the nail rod to enter the through groove 105. The width of the guide section matches the diameter of the nail rod, allowing the rod part of the fixed nail 104 to slide along the circumferential direction of the through groove 105. The slot wall of the limiting end is used to abut against the nail rod to limit its continuous sliding. During assembly, first align the expanded end of the rotating seat 102 with the fixed nail 104, and then make the nail cap penetrate through the expanded end. Then, rotate the rotating seat 102 to make the nail rod slide into the limiting end along the guide section. At this time, the nail cap will be attached to the back of the rotating seat 102, i.e. the side away from the fixed seat 101, and because the nail cap is wider than the slot width of the guide section and the limiting end, it can prevent the rotating seat 102 from being axially separated, thereby completing the initial positioning and clamping.

[0084] Among them, a plurality of jackscrews 103 are uniformly screwed along the circumferential direction on the rotating seat 102, and the axis of the jackscrew 103 is consistent with the axial direction of the rotating seat 102, i.e. perpendicular to the end face of the fixed seat 101. After the initial clamping, the jackscrew 103 is tightened, one end of the jackscrew 103 penetrates through the rotating seat 102 and tightly abuts against the end face of the fixed seat 101. Through the uniform compression force of the plurality of jackscrews 103, the friction force between the nail cap and the end face of the rotating seat 102 away from the fixed seat 101 is increased, and the connection strength between the fixed seat 101 and the rotating seat 102 is strengthened.

[0085] In some possible implementation embodiments disclosed in the application, a rotating unit is fixed at one end of the body 2 in the pipeline advancing direction, and the output shaft of the rotating unit is fixedly connected with the fixed seat 101 of the detachable connection structure 10, for driving the fixed seat 101 to drive the work execution mechanism 1 to rotate around the axial direction of the body 2.

[0086] In this embodiment, by fixing the rotating unit at one end of the body 2 in the pipeline advancing direction, and fixing the output shaft of the rotating unit with the fixed seat 101 of the detachable connection structure 10, the fixed seat 101 can be driven to drive the work execution mechanism 1 to rotate around the axial direction of the body 2, which not only realizes 360° all-around work coverage of the work execution mechanism 1, and adjusts the work angle without moving the whole pipeline robot, greatly improves the work flexibility and comprehensiveness of different positions on the inner wall of the pipeline; but also accurately controls the rotation angle and speed of the work execution mechanism 1, ensures the work precision, such as uniform spraying, no dead angle monitoring, and complete cleaning, and the rotating unit and the detachable connection structure 10 are smoothly connected, without affecting the quick disassembly and stable fixation of the work execution mechanism 1, further expanding the work adaptation scene of the pipeline robot, and improving its practicability and work efficiency under complex pipeline work requirements.

[0087] The rotating unit can be a rotating motor, a rotating cylinder or other components that can provide rotating power, and the output shaft thereof is fixedly connected with the fixed seat 101 in the detachable connection structure 10.

[0088] Specifically, when the rotating unit works, the output shaft thereof drives the fixed seat 101 fixed therewith to rotate synchronously, and the work execution mechanism 1 is stably connected with the fixed seat 101 through the detachable connection structure 10, so that the fixed seat 101 further drives the work execution mechanism 1 to rotate around the axial direction of the body 2.

[0089] It is easy for those skilled in the art to understand that the above advantageous modes can be freely combined and superimposed without conflict.

[0090] The above is only a preferred embodiment of the application, and should not be used to limit the application. Any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application. The above is only a preferred embodiment of the application, and should not be used to limit the application. Any modification, equivalent replacement and improvement made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A pipe robot, characterized in that, The utility model provides a pipeline robot for carrying work execution mechanism and drive the work execution mechanism to carry out work in pipeline, and the pipeline robot comprises: A body extends along the axial direction of the pipeline, and the outer circumferential side of the body is uniformly distributed with at least three walking mechanisms along the circumferential direction of the body, and the at least three walking mechanisms are used to drive the body to move along the axial direction of the pipeline; At least three groups of support arms are arranged one by one with the walking mechanisms, one end of the support arm is hinged with the body, and the other end is hinged with the corresponding walking mechanism; At least three driving mechanisms are arranged one by one with the support arms, and the driving mechanism is used to drive the corresponding support arm to rotate around the hinge point of the body to adjust the radial distance between the walking mechanism and the body.

2. The pipe robot of claim 1, wherein, Each group of support arms comprises two driving rods, two connecting rods and two support rods; The two driving rods, the two connecting rods and the two support rods are oppositely arranged along the two sides of the walking mechanism; The driving rod is connected with the driving mechanism of the corresponding support arm, the connecting rod is parallel with the driving rod on the same side, and the support rod is crossly arranged with the connecting rod on the same side.

3. The pipe robot of claim 2, wherein, The body is sequentially provided with a first hinged support, a second hinged support and a third hinged support in the opposite direction of the axial direction of the body in the pipeline; The first hinged support and the second hinged support are fixedly arranged on the body, wherein the driving rod is hinged with the first hinged support, and the connecting rod is hinged with the second hinged support; The third hinged support is movably arranged on the body, and the support rod is hinged with the third hinged support.

4. The pipe robot of claim 3, wherein, The side of the second hinged support away from the first hinged support is provided with a guide structure, the guide structure has a guide rod extending in the axial direction of the body, and the third hinged support is slidingly arranged on the guide rod.

5. The pipe robot of claim 3, wherein, The support rod of each group of support arms comprises a fixed rod and a movable rod; One end of the fixed rod is hinged with the corresponding walking mechanism, and the other end is an open end, one end of the movable rod is telescopically inserted into the open end of the fixed rod, and the other end of the movable rod is hinged with the third hinged support; The part of the movable rod outside the fixed rod is sleeved with a spring, and the two ends of the spring abut against the end of the fixed rod and the outer circumferential flange of the movable rod.

6. The pipe robot of claim 5, wherein, The inner wall of the fixed rod is provided with a long strip-shaped limiting groove in the axial direction of the fixed rod, the outer circumferential wall of the movable rod is provided with a limiting column matched with the limiting groove, and the limiting column is slidingly embedded in the limiting groove to limit the telescopic stroke of the movable rod relative to the fixed rod.

7. The pipe robot of claim 3, wherein, The driving mechanism comprises a driving unit, a rotating plate and a push-pull rod; The driving unit is fixedly arranged on the first hinged support, the output end of the driving unit is fixedly connected with the rotating plate, and is used to drive the rotating plate to rotate around the central axis of the rotating plate; The convex part is arranged on the rotating plate away from the central axis of the rotating plate, one end of the push-pull rod is hingedly connected with the convex part, and the other end is hingedly connected with the driving rod of the corresponding support arm, so that the driving rod is rotated around the first hinged support through the rotation of the rotating plate and the driving of the push-pull rod.

8. The pipe robot of claim 1, wherein, The work execution mechanism is arranged at one end of the machine body along the pipeline advancing direction through a detachable connection structure.

9. The pipe robot of claim 8, wherein, The detachable connection structure comprises a fixing seat, a rotating seat and a plurality of jackscrews. The fixing seat is fixedly arranged at one end of the machine body along the pipeline advancing direction, the rotating seat is fixedly arranged at one end of the work execution mechanism close to the fixing seat, and the rotating seat is oppositely arranged with the fixing seat. A plurality of fixing nails are uniformly distributed on the end face of the fixing seat close to the rotating seat along the circumferential direction of the fixing seat, and the end of the fixing nail away from the fixing seat is provided with a nail cap with a radial dimension greater than that of the fixing nail rod. A plurality of through grooves are arranged on the rotating seat corresponding to the plurality of fixing nails, the through grooves correspond to the fixing nails one by one and extend along the circumferential direction of the rotating seat, the through grooves comprise an expanded port end, a guide section and a limiting end, the slot size of the expanded port end is greater than the radial dimension of the nail cap, the groove width of the guide section is matched with the diameter of the fixing nail rod, and the groove wall of the limiting end is used to abut against the outer circumferential wall of the fixing nail rod. The nail cap is used to fit on the side end face of the rotating seat away from the fixing seat, and the radial dimension of the nail cap is greater than the groove width of the guide section and the limiting end. A plurality of jackscrews are uniformly screwed on the rotating seat along the circumferential direction of the rotating seat, the axis of the jackscrew is arranged along the axial direction of the rotating seat, and one end of the jackscrew can penetrate to the side of the rotating seat close to the fixing seat and abut against the end face of the fixing seat.

10. The pipe robot of claim 9, wherein, One end of the machine body along the pipeline advancing direction is fixedly provided with a slewing unit, the output shaft of the slewing unit is fixedly connected with the fixing seat of the detachable connection structure, and is used to drive the fixing seat to rotate the work execution mechanism around the axial direction of the machine body.

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