Pipeline robot

Abstract

The utility model discloses a pipeline robot, which relates to the technical field of pipe wall cleaning, and comprises a support unit, a first support body, and a second support body hinged with the first support body; the walking units are respectively mounted on the surfaces of the first frame body and the second frame body; and the walking unit comprises a motor, a steering engine linked with the motor, and rollers for supporting the device to walk. The rack is divided into the first rack body and the second rack body, and the first rack body and the second rack body are rotationally connected, so that the robot can walk in the pipeline more flexibly, all the rolling wheels can stably abut against the inner wall of the pipeline, and turning can be facilitated; the rust removal part is driven to rotate through the rotary driving part, grinding power can be provided, and therefore rust is erased.

Description

Technical Field

[0001] This utility model relates to the field of pipe wall cleaning, and in particular to a pipe robot. Background Technology

[0002] With the acceleration of industrialization, pipeline transportation systems in fields such as oil, natural gas, urban water supply, and chemicals are becoming increasingly large-scale, and their safety and stability are directly related to production efficiency and public safety. Because pipelines are exposed to high pressure, corrosive media, or complex geological environments for extended periods, they are prone to cracks, corrosion, deformation, and other malfunctions. Therefore, regular internal pipeline inspection and maintenance have become essential to ensure the safe operation of pipelines.

[0003] In traditional pipeline inspection technology, for large-diameter pipelines, manual entry is usually used for visual inspection or partial repair. However, for the large number of small and medium-diameter pipelines, personnel cannot directly enter. In the early days, inspection mainly relied on endoscopic technology. With the continuous advancement of technology, in recent years, pipeline robot technology has gradually replaced traditional inspection methods. By being equipped with high-definition camera modules, multi-degree-of-freedom motion mechanisms, and environmental perception sensors, it can realize continuous scanning of the inner wall of the pipeline and real-time image transmission.

[0004] However, due to limitations in the size of the robot itself, its driving method, and its bending ability, mainstream general-purpose robots can only carry detection equipment and cannot integrate maintenance execution mechanisms. When defects such as pipe damage or leakage are found, manual re-entry or repair with the help of other equipment is required, resulting in long fault response cycles and high maintenance costs. Summary of the Invention

[0005] Therefore, the technical problem to be solved by this utility model is that existing pipeline robots are relatively inconvenient to move around when bending inside the pipeline.

[0006] The above-mentioned technical problems are solved by the following technical solution: This utility model proposes a pipeline robot, which includes a support unit, including a first frame and a second frame hinged to the first frame;

[0007] Walking units are respectively installed on the surfaces of the first frame and the second frame;

[0008] The walking unit includes a motor, a servo motor linked to the motor, and rollers supporting the movement of the device.

[0009] In a preferred embodiment of the pipeline robot of this utility model: a wheel frame is provided at the bottom of the first frame, and the rollers and their driving components are mounted on the wheel frame;

[0010] The servo motor is used to change the direction in which the device travels.

[0011] In a preferred embodiment of the pipeline robot of this utility model: the rollers are magnetically attracted to the inner wall of the pipeline, thereby enabling the robot to move sideways or upside down.

[0012] In a preferred embodiment of the pipeline robot of this utility model: the grinding unit includes a driving component, a grinding head disposed at the bottom of the output end of the driving component, and a connecting rod for connecting the driving component and the grinding head.

[0013] In a preferred embodiment of the pipeline robot of this utility model: the grinding unit further includes a telescopic member mounted on the surface of the second frame via a crossbar, and a clamp for connecting the telescopic member to the drive member.

[0014] In a preferred embodiment of the pipeline robot of this utility model: the connecting rod passes through the bottom of the second frame, and the telescopic member drives the grinding head to move closer to or away from the pipe wall;

[0015] The driving component drives the grinding head to rotate and grind the corrosion points.

[0016] In a preferred embodiment of the pipeline robot of this utility model: the monitoring unit includes a light installed on the head of the robot and a camera disposed on one side of the light;

[0017] The lighting and the camera work together to pinpoint the location of corrosion.

[0018] In a preferred embodiment of the pipeline robot of this utility model: a repair unit is also installed on the surface of the second frame;

[0019] The repair unit sprays paint to re-cover the corroded areas.

[0020] The beneficial effects of this utility model are as follows: by splitting the frame into a first frame and a second frame, and rotating the first frame and the second frame together, the robot can move more flexibly inside the pipe, each roller can stably abut against the inner wall of the pipe, and it can also facilitate turning; by driving the rust removal parts to rotate through the rotating drive component, grinding power can be provided, thereby removing the rust. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments of this utility model will be briefly described below. Obviously, the drawings described below only relate to some embodiments of this utility model and are not intended to limit the scope of this utility model. Wherein:

[0022] Figure 1 A three-dimensional structural diagram of the robot is shown;

[0023] Figure 2 A schematic diagram of the robot's internal structure is shown;

[0024] Figure 3 A three-dimensional structural diagram of the polishing unit is shown. Detailed Implementation

[0025] To enable those skilled in the art to better understand this utility model, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0026] The terminology used in this invention refers to those general terms currently widely used in the art in consideration of the functionality of this invention; however, these terms may vary according to the intent, precedent, or new technology of those skilled in the art. Furthermore, specific terms may be chosen by the applicant, and in such cases, their detailed meanings will be described in the detailed description of this invention. Therefore, the terminology used in this specification should not be construed as simple names, but rather based on the meaning of the terms and the overall description of this invention.

[0027] Reference Figures 1-3 This embodiment provides a pipeline robot, including a support unit 1, which includes a first frame 11 and a second frame 12 hinged to the first frame 11; a walking unit 2, which is respectively installed on the surfaces of the first frame 11 and the second frame 12; the walking unit 2 includes a motor 21, a servo motor 22 linked to the motor 21, and rollers 23 for the support device to walk.

[0028] It should be noted that the frame includes a first frame 11 and a second frame 12. Both the first frame 11 and the second frame 12 include a flat plate and a vertical plate. One end of the flat plate is welded to one end of the vertical plate to form an L-shaped structure. Diagonal bracing can be set between the flat plate and the vertical plate for reinforcement.

[0029] The vertical plate corresponding to the first frame 11 and the vertical plate corresponding to the second frame 12 are parallel to each other and are rotatably connected by a hinge. The flat plate corresponding to the first frame 11 and the flat plate corresponding to the second frame 12 can be on the same plane. In addition, protective covers can be added to the first frame 11 and the second frame 12 to protect the components and parts loaded on them.

[0030] A wheel frame is rotatably connected to the flat plate corresponding to the first frame 11, and the rotation surface of the wheel frame is parallel to the flat plate corresponding to the first frame 11. The steering assembly drives the wheel frame to rotate. Specifically, the steering assembly includes a servo motor, a transmission gear, and a transmission gear ring. The transmission gear ring is mounted on the wheel frame, and the transmission gear meshes with the transmission gear ring. The servo motor 21 drives the transmission gear to rotate, and the servo motor is connected to the controller. When steering is required, the controller controls the servo motor to drive the transmission gear ring to rotate, thereby causing a certain deflection of the wheel frame angle.

[0031] There are two rollers in a set, and the two rollers are symmetrically arranged at both ends of the wheel frame. The motor 21 is connected to the controller, and the output shaft of the motor 21 is connected to the input end of the differential. The output end of the differential is connected to the roller 21.

[0032] When the rolling directions of the two sets of frame rollers 23 are parallel to each other, the flat plate corresponding to the first frame 11 and the flat plate corresponding to the second frame 12 are on the same plane. At this time, the bottom of the rollers 23 are on the same plane, and this plane is parallel to the flat plate corresponding to the first frame 11.

[0033] refer to Figure 2 As an optional embodiment, the roller 23 is magnetically attached to the inner wall of the pipe, thereby enabling the robot to walk sideways or upside down.

[0034] It should be noted that the roller 23 is designed as a magnetic wheel, so that the roller 23 can be attracted to the pipe, improving stability. Moreover, when the pipe turns a bend, because the first frame 11 and the second frame 12 are rotatably connected, the roller 23 at the bottom of the frame can still be reliably attracted, ensuring the power to turn the bend and thus ensuring a smooth turn.

[0035] In addition, with sufficient magnetic force from the magnetic wheel, the robot can also move sideways or upside down to ensure that rust removal and painting can be carried out in all parts of the pipe. Of course, if the rust is only at the bottom of the pipe, the roller 23 does not need to be designed as a magnetic wheel and a rubber wheel can be used directly.

[0036] In one embodiment provided in this application, a grinding unit 3 is included, including a driving member 32, a grinding head 34 disposed at the bottom of the output end of the driving member 32, and a connecting rod 33 for connecting the driving member 32 and the grinding head 34.

[0037] It should be noted that the grinding unit 3 is mounted on the second frame 12, and includes a driving component and a grinding head 34 for wiping away rust. The driving component includes a base or an output shaft, and the rotating driving component is a motor. The output shaft of the motor is connected to the grinding head 34 through a connecting rod 33.

[0038] The grinding head 34 is connected to the output shaft of the motor via a connecting rod 33. Specifically, one end of the connecting rod 33 has a first insertion hole adapted to the output shaft, and the other end of the connecting rod 33 has a second insertion hole. The grinding head 34 has a plug adapted to the second insertion hole. Both the first and second insertion holes are round holes. The output shaft has a first limiting groove, and the plug has a second limiting groove. The outer wall of the connecting rod 33 also has a first threaded hole and a second threaded hole. The first threaded hole connects to the first insertion hole and the two are perpendicular to each other. The perforated hole connects to the second insertion hole and the two are perpendicular to each other; after the output shaft is inserted into the first insertion hole, it is threadedly connected to the first threaded hole by the first locking screw, and the end of the first locking screw presses against the first limiting groove on the output shaft, so that the output shaft and the connecting rod 33 are locked and rotate synchronously; similarly, when the insertion rod is inserted into the second insertion hole, it is threadedly connected to the second threaded hole by the second locking screw, and the end of the second locking screw presses against the second limiting groove on the insertion rod, so that the connecting part and the rust removal part are locked and rotate synchronously.

[0039] In some embodiments, the grinding unit 3 also includes a telescopic member 31 mounted on the surface of the second frame 12 via a crossbar, and a connecting assembly 35 for connecting the telescopic member 31 to the drive member 32.

[0040] It should be noted that the grinding unit 3 also includes a telescopic component 31. The telescopic component 31 includes a fixed part or a movable part. The telescopic component 31 is an electric push rod, the fixed part of which is the housing, and the movable part is the telescopic rod. Of course, the telescopic component 31 can also be an electric lead screw or an electric cylinder.

[0041] The housing of the electric actuator is fixed relative to the second frame 12 and can be fixed by bolts; the telescopic rod of the electric actuator is connected to the motor base through the connecting assembly 35.

[0042] The connecting component 35 includes a first half-hoop and a second half-hoop, which are bolted together to form a clamp body for clamping the seat.

[0043] The connecting assembly 35 is also connected to a connecting flange. One end of the connecting flange is threaded to the end of the telescopic rod of the electric push rod, and the other end of the connecting flange is bolted to the clamp body. In this case, the first half clamp and the second half clamp have a certain thickness to facilitate the bolted connection between the connecting flange and the clamp body. By setting the connecting assembly, the connection between the lifting drive and the rotating drive can be facilitated, and the structure is simple.

[0044] Furthermore, in order to ensure the stability of the driving direction of the lifting assembly, guide members are provided on both the first and second half-hoops, and guide grooves 18 corresponding to and cooperating with the guide members are provided on the second frame 12, which is preferred.

[0045] In one embodiment provided in this application, a connecting rod 33 passes through the bottom of the second frame 12, and a telescopic member 31 drives the grinding head 34 to approach or move away from the pipe wall; the driving member 32 drives the grinding head 34 to rotate to grind the corrosion points.

[0046] When the robot does not detect rust, the grinding head 34 is raised and retracted, which can prevent the rust removal parts from interfering with the robot's movement and turning. At the same time, if the grinding head 34 accidentally gets stuck with a foreign object, raising and lowering the grinding head 34 can free it from the stuck situation. In addition, extending the grinding head 34 can bring it closer to the rust spot or apply pressure, thereby improving the removal effect and efficiency of stubborn rust.

[0047] In some implementations, a monitoring unit 5 is included, comprising an illumination lamp 51 mounted on the robot's head and a camera 52 disposed on one side of the illumination lamp 51; the illumination lamp 51 and the camera 52 cooperate to determine the location of corrosion points.

[0048] The monitoring unit 5 is installed on the first frame 11 and / or the second frame 12 and can be adjusted according to actual needs. The monitoring unit 5 includes at least one set of cameras 52 and at least one set of lights 51. Both the cameras 52 and the lights 51 are connected to the controller. The lights 51 illuminate the inside of the pipe, and the cameras 52 can easily obtain clear images of the inside of the pipe. Moreover, the shooting components can also provide real-time information for controlling the robot to move.

[0049] In some embodiments, a repair unit 4 is also installed on the surface of the second frame 12; the repair unit 4 is painted to re-cover the corrosion spots.

[0050] It should be noted that the repair unit 4 includes an air pump, a paint can, and a paint spray gun. The air pump is connected to a controller. The air outlet pipe of the air pump is connected to the air inlet of the paint spray gun, and the paint can is connected to the paint inlet of the paint spray gun via a pipe. The paint spray gun and the paint can are both installed on the first frame 11, and the air pump is installed on the second frame 12. Painting is performed after rust removal to prevent secondary rusting at the treated area.

[0051] Finally, it should be noted that the methods and devices described in detail above are merely embodiments, and those skilled in the art can modify these embodiments in different ways as long as they do not depart from the scope of this utility model.

Claims

1. A pipe robot, characterized by: Comprising, Support unit (1), comprising a first frame (11), and the second frame (12) is hinged with the first frame (11); Walking unit (2), which is respectively mounted on the surface of the first frame (11) and the second frame (12); The walking unit (2) comprises a motor (21), a steering wheel (22) connected with the motor (21), and a roller (23) supporting the device walking.

2. The pipe robot according to claim 1, wherein: The bottom of the first frame (11) is provided with a wheel frame, and the roller (23) and its driving part are installed on the wheel frame; The steering wheel (22) is used to change the direction of the device walking.

3. The pipe robot according to claim 2, wherein: The roller (23) is adsorbed on the inner wall of the pipe by magnetic force, so that the robot can walk horizontally or hang down.

4. The pipe robot of claim 3, wherein: Further comprising Polishing unit (3), comprising driving part (32), polishing head (34) arranged at the bottom of the output end of the driving part (32), and connecting rod (33) for connecting the driving part (32) and the polishing head (34).

5. The pipe robot according to claim 4, wherein: The polishing unit (3) further comprises a telescopic part (31) mounted on the surface of the second frame (12) through a cross frame, and a connecting assembly (35) for connecting the telescopic part (31) and the driving part (32).

6. The pipe robot according to claim 5, wherein: The connecting rod (33) penetrates through the bottom of the second frame (12), and the telescopic part (31) drives the polishing head (34) to approach or move away from the pipe wall; The driving part (32) drives the polishing head (34) to rotate and polish the corrosion point.

7. The pipe robot of claim 6, wherein: Further comprising, Monitoring unit (5), comprising illuminating lamp (51) installed on the head of the robot, and camera (52) arranged on one side of the illuminating lamp (51); The illuminating lamp (51) cooperates with the camera (52), so as to determine the corrosion point position.

8. The pipe robot according to claim 7, wherein: The surface of the second frame (12) is further provided with a repairing unit (4); The repairing unit (4) sprays paint to cover the corrosion point position again.

Images