Overturn-preventing pipeline crawler

Abstract

The utility model belongs to the technical field of pipeline robots, and particularly relates to an overturn-preventing pipeline crawler. Comprising a crawl device body, expandable supporting structures are symmetrically arranged on the two sides of the crawl device body, the supporting structures are connected with the crawl device body through hinge shafts, and return devices are integrated at the hinge shafts; the supporting structure has two working states: a constraint state: when the crawl device enters a pipeline, the supporting structure clings to the side edge of the crawl device body under external constraint force; in the unfolding state, after the crawl device completely enters the pipeline, the return device drives the supporting structure to outwards rotate and unfold around the hinge shaft until the far end of the supporting structure makes contact with the inner wall of the pipeline in the small pipe diameter, the crawl device body is forced to be kept in the posture, and the supporting structure is completely unfolded in the large pipe diameter. Through mechanical structure optimization and functional module integration, the overturning-preventing stability, the driving reliability and the environmental adaptability are considered, and a reliable solution is provided for a narrow pipeline detection scene.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline robot technology, specifically an anti-tipping pipeline crawler. Background Technology

[0002] The inspection and maintenance of urban water supply networks place higher demands on the mobility and stability of pipeline crawlers. Existing pipeline crawler devices mainly include three types: wheeled, tracked, and helical-driven, but they generally suffer from insufficient anti-overturning capability.

[0003] 1. Wheel-driven structure: Relying on multiple tire supports, it has the advantage of high speed, but it is prone to tire slippage in wet or silted pipes, especially in areas with abrupt changes in pipe diameter (such as tees and bends), where the risk of rollover increases sharply. Experimental data shows that when the pipe tilt angle is greater than 8°, the probability of instability of the wheel-driven structure is relatively high.

[0004] 2. Multi-section tracked structure: While increasing the ground contact area improves adhesion, its rigid track units present significant problems when dealing with pipe deformation. On one hand, when the pipe ellipticity deviation exceeds ±10% or there are local depressions, the track units cannot adaptively conform to the pipe wall, resulting in uneven ground pressure distribution. More importantly, on slope sections with a longitudinal inclination angle >15°, the effective contact length between the track and the pipe wall is shortened to less than 60% of that in straight sections, causing a sharp drop in driving torque and even leading to track slippage.

[0005] 3. Screw propulsion device: It relies on axial rotation to generate propulsion force. Although it can adapt to high silt environment, its motion efficiency is low (speed <0.1m / s), and the mechanism interference rate reaches 78% at the 90° bend.

[0006] Existing anti-tipping solutions, such as counterweight adjustment and pneumatic adsorption, are either unable to cope with dynamic imbalances due to response delays or are impractical due to excessive energy consumption. The industry urgently needs a new pipeline crawling architecture that combines adaptability to large tilt angles with efficiency in overcoming multiple obstacles. Summary of the Invention

[0007] To solve the above problems, this utility model provides an anti-tipping pipe crawler.

[0008] The present invention adopts the following technical solution: an anti-overturning pipe crawler, including a crawler body, wherein symmetrically arranged deployable support structures are provided on both sides of the crawler body, the support structures are connected to the crawler body through a hinge shaft, and a return device is integrated at the hinge shaft.

[0009] The support structure has two working states:

[0010] Constraint state: When the crawler enters the pipe, the support structure is tightly attached to the side of the crawler body by external constraint forces;

[0011] Deployed state: After the crawler has fully entered the pipe, the return device drives the support structure to rotate outward around the hinge axis, thus deploying the crawler.

[0012] In some embodiments, the support structure includes a support rod, one end of which is connected to the crawler body and has a circular hole. A hinge shaft passes through the circular hole and is coaxially connected to a return device.

[0013] In some embodiments, a roller is mounted on the end of the support rod away from the crawler body, and the axis of rotation of the roller is perpendicular to the pipe axis.

[0014] In some embodiments, the return device is a return spring.

[0015] In some embodiments, the walking device of the crawler body is a chain drive system, including two sets of drive units symmetrically arranged on both sides of the crawler body, each set of drive units comprising:

[0016] The drive sprocket is mounted at the front end of the crawler body via a bearing;

[0017] The driven sprocket is mounted at the rear end of the crawler body via a bearing;

[0018] A closed-loop chain is meshed between the drive sprocket and the driven sprocket.

[0019] The drive sprocket is connected to the output shaft of the motor via a gear system or directly, and the crawler body is driven to move axially along the pipe by the cyclic rotation of the chain.

[0020] In some embodiments, the closed-loop chain includes:

[0021] Multiple alternating inner and outer links, with adjacent inner and outer links hinged by pins;

[0022] At least some of the outer links are drive links, and each drive link has symmetrical connecting pieces on both sides, with a rubber boot detachably installed between the connecting pieces on both sides.

[0023] In some embodiments, the remaining outer links are toothed drive links, and the two sides of the auxiliary outer links are integrally formed with teeth, the tips of which are higher than or flat to the surface of the rubber boot.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The synergistic effect of the deployable support structure and the return device enables the crawler to automatically deploy the support rod after entering the pipe. (1) For pipes with a larger diameter or a flat bottom, the deployment of the support rod helps the crawler to return to its normal position by adjusting its center of gravity. (2) For pipes with a smaller diameter, the far end of the support structure forms an elastic contact with the inner wall of the pipe, forcing the crawler body to maintain a horizontal posture.

[0026] 2. The directional design of the support rod and roller (the roller rotation axis is perpendicular to the pipe axis) reduces the sliding friction resistance between the support structure and the pipe wall, and achieves adaptive adaptation to changes in the pipe inner diameter through rolling contact. It is suitable for multi-specification pipe inspection under complex working conditions, improving operating efficiency and equipment safety.

[0027] 3. The chain drive system features a symmetrical layout and closed-loop transmission. The motor drives the sprocket to rotate the closed-loop chain in a circular motion, providing uniform and continuous axial driving force. This avoids the slippage problem of traditional wheel drive systems, simplifies the power transmission path, and significantly improves the crawler's traction efficiency and endurance.

[0028] This invention provides a safer solution for narrow pipe inspection scenarios by optimizing the mechanical structure and integrating functional modules, taking into account anti-tipping stability, drive reliability, and environmental adaptability. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the present invention (including rollers) during the lowering of the pipe;

[0030] Figure 2 This is a schematic diagram of the structure of this utility model;

[0031] Figure 3 This is a schematic diagram of the present invention in a tap water pipe;

[0032] Figure 4 This is a schematic diagram of the structure of this utility model;

[0033] Figure 5 This is a schematic diagram of the lowering of the pipe (excluding the rollers) according to this utility model;

[0034] Figure 6 This is a schematic diagram of the supporting structure (excluding the rollers);

[0035] Figure 7 A schematic diagram of the supporting structure (including rollers);

[0036] Figure 8 This is a schematic diagram of the return device installation.

[0037] Figure 9 This is a schematic diagram of a closed-loop chain.

[0038] In the diagram, 1-crawler body, 2-support structure, 3-return device, 4-water pipe, 201-support rod, 202-roller, 101-drive sprocket, 102-driven sprocket, 103-closed-loop chain, 1031-inner link, 1032-outer link, 1032a-drive link, 1032b-tooth drive link, 1033-pin, 1034-rubber boot, 10321-connecting piece, 10322-tooth. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are some embodiments of this utility model, but not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0040] like Figure 1-5 As shown, an anti-tipping pipe crawler includes a crawler body 1. Deployable support structures 2 are symmetrically arranged on both sides of the crawler body 1. The support structures 2 are connected to the crawler body 1 via hinge shafts, and a return device 3 is integrated at the hinge shafts. The support structures 2 have two working states:

[0041] Constraint state: When the crawler enters the pipe, the support structure 2 is tightly attached to the side of the crawler body 1 by external constraint force;

[0042] Deployed state: After the crawler has fully entered the pipe, the return device 3 drives the support structure 2 to rotate outward around the hinge axis to deploy.

[0043] Within the small-diameter pipe, the support structure 2 contacts the inner wall of the pipe at its far end, forcing the crawler body 1 to maintain a basically horizontal posture; within the large-diameter pipe, the support structure is fully deployed, which helps the crawler to return to its normal position by adjusting its center of gravity.

[0044] Through the coordinated action of the deployable support structure 2 and the return device 3, the support structure automatically deploys after the crawler enters the pipe, effectively preventing the crawler body 1 from tipping over due to the shift of the center of gravity or the unevenness of the inner wall of the pipe, and significantly improving the crawling stability.

[0045] like Figure 6 As shown, the support structure 2 includes a support rod 201. One end of the support rod 201 connected to the crawler body 1 is provided with a circular hole. A hinge shaft passes through the circular hole and is coaxially connected to the return device 3.

[0046] like Figure 7 As shown, a roller 202 is installed at the end of the support rod 201 away from the crawler body 1, and the rotation axis of the roller 202 is perpendicular to the pipe axis.

[0047] The rotation axis of the roller 202 is perpendicular to the pipe axis, which reduces the sliding friction between the support structure 2 and the inner wall of the pipe when it is deployed, thus reducing the resistance to movement. At the same time, the roller 202 adapts to the curvature change of the inner wall of the pipe through rolling contact, thereby improving the balance adjustment capability.

[0048] The return device 3 is a reset spring. The unfolding angle of the support structure 2 is adaptively adjusted by the preload to adapt to pipeline environments with different pipe diameters.

[0049] like Figure 9 As shown, the crawler body 1's walking device is a chain-driven system, including two sets of drive units symmetrically arranged on both sides of the crawler body 1. Each set of drive units includes:

[0050] The drive sprocket 101 is mounted at the front end of the crawler body 1 via a bearing;

[0051] Driven sprocket 102 is mounted at the rear end of the crawler body 1 via a bearing;

[0052] A closed-loop chain 103 is meshed between the drive sprocket 101 and the driven sprocket 102;

[0053] The drive sprocket 101 is connected to the output shaft of the motor via a gear system or directly, and drives the crawler body 1 to move axially along the pipeline through the cyclic rotation of the chain 103. The chain drive system, symmetrically arranged on both sides, achieves high traction output through the meshing transmission of the closed-loop chain 103 and the sprocket, ensuring stable movement of the crawler in complex pipeline environments (such as sludge deposits and slippery inner walls).

[0054] Closed-loop chain 103 includes:

[0055] Multiple alternating inner links 1031 and outer links 1032, with adjacent inner links 1031 and outer links 1032 hinged together by pins 1033;

[0056] At least some of the outer links 1032 are drive links, and each drive link 1032a has a connecting piece 10321 symmetrically arranged on both sides, and a rubber boot 1034 is detachably installed between the connecting pieces 10321 on both sides.

[0057] The drive link 1032a provides high-friction drive force through a detachable rubber shoe 1034, suitable for wet or oily pipes; the pointed teeth 10322 of the toothed drive link 1032b embed into the pipe wall to enhance grip and adapt to complex working conditions.

[0058] The remaining outer links are toothed drive links 1032b, with toothed 10322 integrally formed on both sides of the toothed drive links 1032b, and the top of the toothed 10322 protruding above or level with the surface of the rubber boot 1034.

[0059] There are several types of drive links; one type includes a soft chain shoe drive link with symmetrically arranged connecting plates on both sides, and a soft chain shoe can be detachably installed between the connecting plates. Another type of drive link is a toothed drive link, which has a single or multiple integrally formed tooth, the tip of which is higher than or flat with the surface of the soft chain shoe.

[0060] The pointed teeth 10322 of the drive link 1032b are raised or flat on the surface of the rubber boot, providing auxiliary grip when the drive link 1032a slips, forming a "friction + embedding" dual-mode drive, which greatly improves obstacle crossing ability (such as crossing pipe wall protrusions or cracks).

[0061] Deployment control of support structure 2:

[0062] The support structure 2 consists of a support rod 201, rollers 202, and a return device 3. During the initial lowering of the pipe, the support rod 201 is tightly pressed against the side wall of the crawler body 1 under external constraint. The rotation axis of the rollers 202 is perpendicular to the pipe axis, and the contact pressure is adaptively adjusted through rolling friction, forcing the crawler body 1 to maintain the required posture and preventing jamming when retraction is needed.

[0063] Once the crawler has fully entered the water pipe, the return device 3, for example a return spring, drives the support rod 201 to unfold outward around the hinge axis.

[0064] The drive sprocket 101 and the driven sprocket 102 are respectively mounted on the front and rear ends of the crawler body 1 via bearings, and the closed-loop chain 103 is meshed and sleeved on the sprocket.

[0065] The closed-loop chain 103 consists of alternating inner links 1031 and outer links 1032. The outer links are divided into drive links 1032a and drive tooth drive links 1032b.

[0066] Drive link 1032a: The connecting plates 10321 on both sides are fixed with bolts to a detachable rubber boot 1034. The surface of the rubber boot is provided with anti-slip texture to provide friction in wet and slippery pipes.

[0067] Drive tooth drive link 1032b: One-piece molded teeth 10322 on both sides, used to embed into pipe wall deposits or get stuck in cracks to provide drive.

[0068] Integrated design of hinge shaft and return mechanism:

[0069] A return spring is coaxially sleeved on the outside of the hinge shaft of the support rod 201, and the two ends of the spring are fixed to the crawler body 1 and the support rod 201 respectively.

[0070] When unfolded, the spring releases the preload torque, driving the support rod 201 to rotate outward. The unfolding speed can be adjusted by the spring stiffness.

[0071] Adaptive adjustment of the scroll wheel:

[0072] Roller 202 is connected to the end of support rod 201 via a pin and screw. The roller diameter is adjusted according to the pipe diameter.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. An anti-tipping pipe crawler, comprising a crawler body (1), characterized in that: The crawler body (1) is symmetrically provided with deployable support structures (2) on both sides. The support structures (2) are connected to the crawler body (1) through hinge shafts, and a return device (3) is integrated at the hinge shafts. The support structure (2) has two working states: Constraint state: When the crawler enters the pipe, the support structure (2) is tightly attached to the side of the crawler body (1) by external constraint force; ​Extended state: When the crawler is fully inside the pipe, the return device (3) drives the support structure (2) to rotate outward around the hinge axis to the extended state.

2. The anti-overturning pipe crawler according to claim 1, characterized in that: The support structure (2) includes a support rod (201). One end of the support rod (201) connected to the crawler body (1) is provided with a round hole. A hinge shaft passes through the round hole and is coaxially connected to the return device (3).

3. The anti-tipping pipe crawler according to claim 2, characterized in that: A roller (202) is installed at the end of the support rod (201) away from the crawler body (1), and the rotation axis of the roller (202) is perpendicular to the pipe axis.

4. The anti-tipping pipe crawler according to claim 1, 2, or 3, characterized in that: The return device (3) is a return spring.

5. The anti-tipping pipe crawler according to claim 1, 2, or 3, characterized in that: The crawler body (1) has a chain drive system for its walking mechanism, comprising two sets of drive units symmetrically arranged on both sides of the crawler body (1), each set of drive units including: The drive sprocket (101) is mounted on the front end of the crawler body (1) via a bearing; The driven sprocket (102) is mounted at the rear end of the crawler body (1) via a bearing; A closed-loop chain (103) is meshed between the drive sprocket (101) and the driven sprocket (102); The drive sprocket (101) is connected to the output shaft of the motor via a gear system or directly connected to it. The cyclic rotation of the chain (103) drives the crawler body (1) to move axially along the pipe.

6. The anti-tipping pipe crawler according to claim 5, characterized in that: The closed-loop chain (103) includes: Multiple alternating inner links (1031) and outer links (1032) are connected, and adjacent inner links (1031) and outer links (1032) are hinged by pins (1033); At least some of the outer links (1032) are drive links (1032a), and each drive link (1032a) has a connecting piece (10321) symmetrically arranged on both sides, and a rubber boot (1034) is detachably installed between the two connecting pieces (10321).

7. The anti-overturning pipe crawler according to claim 6, characterized in that: The remaining outer links are toothed drive links (1032b), and the toothed drive links (1032b) have teeth (10322) integrally formed on both sides. The top of the teeth (10322) is higher than or flat to the surface of the rubber boot (1034).

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