Walking carrier for measuring interior of pipeline

Abstract

The utility model discloses a pipeline interior measurement walking carrier which comprises a vehicle frame, at least three walking units distributed in the circumferential direction are arranged on the outer side of the vehicle frame, a front hub motor and a rear hub motor which are connected with a control mechanism are arranged at the outer side end of each walking unit, and an angle adjusting mechanism is arranged between the vehicle frame and the walking units. The frame comprises a front first support plate and a rear first support plate, a plurality of first connecting rods are arranged between the two first support plates, the walking unit comprises a front telescopic rod and a rear telescopic rod, the two telescopic rods are hinged to the outer sides of the two first support plates respectively, and hub motors connected with the control mechanism are arranged at the outer side ends of the two telescopic rods; each telescopic rod comprises an L-shaped outer pipe, one end of each outer pipe is hinged to the corresponding first support plate, the other end of each outer pipe is provided with an inner rod connected with the corresponding hub motor, each outer pipe is provided with a bolt abutting against the corresponding inner rod, at least two second connecting rods are arranged between the two telescopic rods in the walking unit, and the second connecting rods are hinged to the telescopic rods. The utility model has the advantage of good gradeability.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline measurement, and in particular relates to a walking vehicle for measuring the inside of pipelines. Background Technology

[0002] In the infrastructure sector, there are numerous pipelines that traverse mountains and valleys, spanning long distances, such as municipal water pipelines that connect water sources to water treatment plants in the areas they pass through. Over long periods of use, these pipelines can develop various problems, such as blockages, cracks, and deformations. In such cases, pipeline measurement robots are needed to pinpoint the exact location of the problem so that workers can address it precisely.

[0003] Existing pipeline measurement robots (referred to as robots), such as the GD800-Q6 pipeline measurement robot, include a walking vehicle, an inspection mechanism, and a control mechanism. The walking vehicle provides power for the robot's movement within the pipeline. The inspection mechanism is responsible for measuring the condition of parts of the pipeline, and appropriate selections are made according to the inspection needs, such as cameras, 3D laser scanners, etc. The control mechanism is connected to the walking vehicle and controls the state of the walking vehicle, such as acceleration, deceleration, forward movement, and backward movement. The control mechanism is connected to a control terminal (such as a laptop computer) outside the pipeline, and sends signals to the control mechanism through the control terminal. The control mechanism then makes the walking vehicle move accordingly based on the signals. The information detected by the inspection mechanism is transmitted to the control terminal.

[0004] Existing robots use a vehicle consisting of a frame with four electrically driven wheels at the bottom. The robot moves along pipes by rotating these wheels. However, pipes are designed to accommodate varying terrain, sometimes with steep inclines exceeding the vehicle's climbing ability. The robot cannot enter steep pipe sections, and even if it forces its way in, it will slip, resulting in incomplete pipe inspection. Field tests showed that when the pipe interior is slippery, the existing vehicle's maximum climbing angle is only about 15°.

[0005] Therefore, existing mobile vehicles have the drawback of weak climbing ability. Utility Model Content

[0006] The purpose of this invention is to provide a walking vehicle for measuring inside pipelines. This invention has the advantage of good climbing ability.

[0007] The technical solution of this utility model is as follows: a pipeline internal measurement walking vehicle, including a frame, at least three circumferentially distributed walking units are provided on the outer side of the frame, two hub motors are provided at the outer end of the walking units, and an angle adjustment mechanism is provided between the frame and the walking units to change the distance between the hub motors and the frame.

[0008] In the aforementioned pipeline internal measurement vehicle, the frame includes two first support plates at the front and rear, and multiple first connecting rods are provided between the two first support plates. The walking unit includes two telescopic rods at the front and rear, and the two telescopic rods are respectively hinged to the outer sides of the two first support plates. A hub motor is provided at the outer end of each of the two telescopic rods.

[0009] In the aforementioned pipeline internal measurement walking vehicle, the telescopic rod includes an L-shaped outer tube, one end of which is hinged to the first support plate, and the other end of which is provided with an inner rod for connecting the hub motor. The outer tube is provided with a bolt for tightening the inner rod. At least two second connecting rods are provided between the two telescopic rods in the walking unit, and the second connecting rods are hinged to the telescopic rods.

[0010] In the aforementioned pipeline internal measurement walking vehicle, the angle adjustment mechanism includes a screw, a first support plate rotatably connected to the screw, a second support plate at the rear end of the screw, and the rear end of the first connecting rod extending rearward and fixed to the second support plate;

[0011] The rear side of the first support plate is provided with a nut for connecting screws. The nut is connected to the fourth link through the third link. The fourth link is fixed to the corresponding outer tube. One end of the third link is hinged to the nut, and the other end of the third link is hinged to the fourth link.

[0012] In the aforementioned pipeline internal measurement walking vehicle, the rear end of the screw passes through the second support plate and is provided with a handle, and the front end of the screw is provided with a coil spring assembly that connects to the corresponding first support plate.

[0013] In the aforementioned pipeline internal measurement walking vehicle, both the first support plate and the second support plate are regular hexagons. There are three first connecting rods, which are respectively connected to the three corners of the first support plate and the three first connecting rods are respectively connected to the three corners of the second support plate. The screw passes through the middle of the first support plate and the second support plate.

[0014] In the aforementioned pipeline internal measurement vehicle, a mounting plate is provided on the first support plate located on the front side.

[0015] In the aforementioned pipeline internal measurement traveling vehicle, the nut includes a sleeve through which a screw passes, a third connecting rod is hinged to the sleeve, a slip ring is provided on the outside of the sleeve, a curved spring is provided between the sleeve and the slip ring, the front end of the spring is fixed to the sleeve, a plurality of circumferentially distributed fifth connecting rods are provided on the rear side of the sleeve, the inner side of the rear end of the fifth connecting rod is provided with teeth that cooperate with the screw, and the front end of the spring extends to the outside of the second connecting rod.

[0016] Compared with existing technologies, this invention features multiple circumferentially distributed hub motors. By adjusting the angle of the cylindrical surfaces of these hub motors, the diameter of the vehicle is altered, thus changing the radial dimension of the vehicle. This allows the vehicle to travel through pipes with varying inner diameters, broadening its applicability. Furthermore, the hub motors generate greater contact pressure with the pipes, increasing friction and improving the vehicle's climbing ability. Therefore, this invention offers the advantage of superior climbing ability.

[0017] Furthermore, by optimizing the structure of the walking unit and connecting the hub motor via the telescopic rod, the walking vehicle can be used in pipes with a wider range of inner diameters, further expanding its applicability. The addition of a connecting rod between the front and rear telescopic rods improves the structural stability of the walking unit and reduces the failure rate. A coil spring mechanism at one end of the screw provides the telescopic rod with a certain degree of rotational elasticity, ensuring the hub motor can move radially when traversing uneven pipe surfaces, giving the walking vehicle a certain obstacle-crossing capability. Optimizing the nut structure allows for adjustments to the walking unit's tilt angle. First, the slip ring is moved forward to release the screw connection between the nut and the bolt, allowing the nut to move axially, greatly reducing the number of handle rotations. After the nut reaches a certain position, the slip ring is moved backward to restore the screw connection, and the handle is then used to drive the nut to adjust the walking unit's tilt angle, making it convenient to use. Attached Figure Description

[0018] Figure 1 This is a rear-view perspective view of this utility model.

[0019] Figure 2 This is a perspective view of the utility model from the front.

[0020] Figure 3 This is a schematic diagram of the nut's structure.

[0021] The labels in the attached diagram are as follows: 1-Detection mechanism, 2-Control mechanism, 3-First support plate, 4-First connecting rod, 5-Hub motor, 6-Outer tube, 7-Inner rod, 8-Bolt, 9-Second connecting rod, 10-Screw, 11-Second support plate, 12-Third connecting rod, 13-Fourth connecting rod, 14-Handle, 15-Spring assembly, 16-Mounting plate, 17-Sleeve, 18-Slip ring, 19-Spring, 20-Fifth connecting rod, 21-Tooth. Detailed Implementation

[0022] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0023] Example: A pipeline measurement robot, such as Figure 1As shown, it includes a walking vehicle, a detection mechanism 1, and a control mechanism 2, where the detection mechanism 1 and the control mechanism 2 are existing components.

[0024] The vehicle includes a frame, which comprises two first support plates 3, one at the front and one at the rear. Each first support plate 3 is hexagonal. A horizontal mounting plate 16 is mounted on the front first support plate 3. A detection mechanism 1 (such as a camera) and a control mechanism 2 are both fixed to the mounting plate 16. Three first connecting rods 4 are provided between the two first support plates 3. The three first connecting rods 4 are fixed to the three corners of the first support plate 3, and are evenly distributed around the axis of the first support plate 3.

[0025] The outer side of the frame is equipped with three circumferentially distributed travel units. Each travel unit includes two telescopic rods, one at the front and one at the rear, which are respectively connected to two first support plates 3. Each telescopic rod includes an L-shaped outer tube 6. One end of the outer tube 6 extends axially rearward and is hinged to the corresponding first support plate 3. The other end of the outer tube 6 extends radially outward and is equipped with an inner rod 7, which is slidably connected to the outer tube 6. A hub motor 5, connected to the control mechanism 2, is located at the outer end of the inner rod 7. A rubber wheel is fixed to the outer side of the hub motor 5. A bolt 8 is provided on the outer tube 6 to tighten the inner rod 7. After the bolt 8 is tightened, the total length of the telescopic rod is fixed. A second connecting rod 9 is provided between the outer ends of the two outer tubes 6 and between the outer ends of the two inner rods 7. The end of the second connecting rod 9 is hinged to the corresponding outer tube 6 or inner rod 7. The second connecting rod 9 is used to improve the stability of the travel unit.

[0026] An angle adjustment mechanism is provided between the frame and the running gear. This mechanism includes a screw 10 passing through the middle of two first support plates 3. The screw 10 is coated with lubricant. Both first support plates 3 are rotatably connected to the screw 10. A hexagonal second support plate 11 is located at the rear end of the screw 10. The rear ends of three first connecting rods 4 extend rearward and are fixed to the three corners of the second support plate 11. A handle 14 is provided at the rear end of the screw 10 passing through the middle of the second support plate 11. A coil spring assembly 15, connecting to the corresponding first support plate 3, is located at the front end of the screw 10. The coil spring assembly 15 is an existing component, comprising a housing fixed to the first support plate 3, a coil spring inside the housing, with the outer end of the coil spring fixed to the housing and the inner end fixed to the screw 10.

[0027] The rear side of the first support plate 3 is provided with a nut for connecting the screw 10. The nut includes a sleeve 17 through which the screw 10 passes. The sleeve 17 is connected to the fourth link 13 via the third link 12. The fourth link 13 is fixed to the corresponding outer tube 6. One end of the third link 12 is hinged to the sleeve 17, and the other end of the third link 12 is hinged to the fourth link 13. A slip ring 18 is provided on the outer side of the sleeve 17. A spring 19 bent into an arc shape is provided between the sleeve 17 and the slip ring 18. The front end of the spring 19 is fixed to the sleeve 17. Three circumferentially distributed fifth links 20 are provided on the rear side of the sleeve 17. The inner side of the rear end of the fifth link 20 is provided with teeth 21 that mate with the screw groove of the screw 10. The front end of the spring 19 extends to the outer side of the second link 9. The outer wall of the second link 9 and the outer wall of the sleeve 17 are provided with slots for accommodating the spring 19. The slots are used to hide the spring 19, so that the slip ring 18 can move axially from the sleeve 17 to the second link 9. The sleeve 17 is connected to the fourth link 13 via the third link 12. The fourth link 13 is fixed to the corresponding outer tube 6. One end of the third link 12 is hinged to the nut, and the other end of the third link 12 is hinged to the fourth link 13.

[0028] The helix angle of the screw 10 is greater than its friction angle, so that when an external force is applied axially to the nut, the screw 10 can rotate freely. At the same time, the helix angle should not be too large, so that the rotation of the screw 10 can drive the nut to move axially. This can be seen from simple experiments and can also be calculated.

[0029] How to use the robot: In the initial state, due to the bending of spring 19, the fifth link 20 opens outward, causing the teeth 21 to separate from the screw 10. At this time, the sleeve 17 can move freely axially on the screw 10. According to the inner diameter of the pipe to be entered, the sleeve 17 is moved backward accordingly, changing the tilt angle of the telescopic rod so that the cylindrical surface where the six hub motors are located is larger than the inner diameter of the pipe. Then, the slip ring 18 is slid backward, and the fifth link 20 rotates inward, so that the teeth 21 enter the screw groove of the screw 10. The nut is screwed into the screw 10. At this time, the walking vehicle cannot be put into the pipe.

[0030] Rotating handle 14 forward drives screw 10 to rotate clockwise. Screw 10 moves nut backward, causing telescopic rod to rotate inward. This makes the cylindrical surface containing the six hub motors slightly smaller than the diameter of the pipe's inner bore, allowing the vehicle to be placed inside the pipe. During screw 10's rotation, torque energy accumulates in the coil spring assembly 15. When the handle is released, the coil spring assembly 15 provides screw 10 with a reverse rotation torque, giving nut a forward driving force. This promotes the telescopic rod's outward rotation, allowing hub motors 5 to roll and connect to the pipe's inner wall with appropriate pressure, enabling them to smoothly pass through uneven areas of the pipe's inner wall.

[0031] By loosening bolt 8 and changing the axial position of inner rod 7 in outer tube 6, the length of telescopic rod can be changed, which can further expand the range of pipe inner diameters that the mobile vehicle can adapt to, thus broadening the applicability of the mobile vehicle.

[0032] The usage of the remaining undescribed parts is the same as that of existing robots. For example, the hub motor 5 is started or stopped by the control mechanism 2 to drive the robot to move forward or backward in the pipe. During the robot's movement, the detection mechanism 1 collects pipe information.

Claims

1. A traveling vehicle for measuring inside a pipeline, characterized in that: The vehicle includes a frame, with at least three circumferentially distributed traveling units on the outer side of the frame. Two hub motors (5) are provided at the outer ends of the traveling units. An angle adjustment mechanism is provided between the frame and the traveling units. The angle adjustment mechanism is used to change the distance between the hub motors and the frame.

2. The pipeline internal measurement walking vehicle according to claim 1, characterized in that: The frame includes two first support plates (3) at the front and rear, and multiple first connecting rods (4) are provided between the two first support plates (3). The walking unit includes two telescopic rods at the front and rear, and the two telescopic rods are respectively hinged to the outer side of the two first support plates (3). The outer ends of the two telescopic rods are provided with hub motors (5).

3. The pipeline internal measurement walking vehicle according to claim 2, characterized in that: The telescopic rod includes an L-shaped outer tube (6), one end of which is hinged to the first support plate (3), and the other end of which is provided with an inner rod (7) for connecting the hub motor (5). The outer tube (6) is provided with a bolt (8) for tightening the inner rod (7). At least two second connecting rods (9) are provided between the two telescopic rods in the walking unit, and the second connecting rods (9) are hinged to the telescopic rods.

4. The pipeline internal measurement walking vehicle according to claim 3, characterized in that: The angle adjustment mechanism includes a screw (10), a first support plate (3) rotatably connected to the screw (10), a second support plate (11) at the rear end of the screw (10), and the rear end of the first connecting rod (4) extending rearward and fixed to the second support plate (11). The rear side of the first support plate (3) is provided with a nut for connecting screw (10). The nut is connected to the fourth link (13) through the third link (12). The fourth link (13) is fixed to the corresponding outer tube (6). One end of the third link (12) is hinged to the nut, and the other end of the third link (12) is hinged to the fourth link (13).

5. The pipeline internal measurement walking vehicle according to claim 4, characterized in that: The rear end of the screw (10) passes through the second bracket plate (11) and is provided with a handle (14). The front end of the screw (10) is provided with a coil spring assembly (15) that connects to the corresponding first bracket plate (3).

6. The pipeline internal measurement walking vehicle according to claim 2, characterized in that: The first support plate (3) and the second support plate (11) are both regular hexagons. There are three first connecting rods (4). The three first connecting rods (4) are respectively connected to the three corners of the first support plate (3) and the three first connecting rods (4) are respectively connected to the three corners of the second support plate (11). The screw (10) passes through the middle of the first support plate (3) and the second support plate (11).

7. The pipeline internal measurement walking vehicle according to claim 4, characterized in that: A mounting plate (16) is provided on the first bracket plate (3) located on the front side.

8. The pipeline internal measurement walking vehicle according to claim 4, characterized in that: The nut includes a sleeve (17) through which the screw (10) passes. The third link (12) is hinged to the sleeve (17). A slip ring (18) is provided on the outside of the sleeve (17). A curved spring (19) is provided between the sleeve (17) and the slip ring (18). The front end of the spring (19) is fixed to the sleeve (17). A plurality of circumferentially distributed fifth links (20) are provided on the rear side of the sleeve (17). The inner side of the rear end of the fifth link (20) is provided with teeth (21) that cooperate with the screw (10). The front end of the spring (19) extends to the outside of the second link (9).

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