Pipeline robot and cable threading robot system

Abstract

The utility model discloses a pipeline robot and a cable threading robot system. The pipeline robot comprises a robot body, a first driving mechanism, a second driving mechanism, a first rubber track, a second rubber track and a detection mechanism. The first driving mechanism and the second driving mechanism are connected to the robot body, the first driving mechanism is connected with the first rubber track, the second driving mechanism is connected with the second rubber track, and the detection mechanism is arranged on the robot body. Through the first driving mechanism and the second driving mechanism, the first rubber crawler belt and the second rubber crawler belt are always attached to the inner wall of a pipe diameter changing pipeline or a vertical pipeline, and then the robot body and the detection mechanism move in the extending direction of the inner wall of the pipeline; therefore, it is guaranteed that the pipeline robot works in pipelines with different pipe diameters and vertical pipelines, and the application range of the pipeline robot is widened.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a pipeline robot and a cable threading robot system. BACKGROUND

[0002] With the acceleration of urbanization and the continuous improvement of infrastructure, underground cable pipeline networks are increasingly complex and large. These pipeline systems bear important functions such as power and communication, and their safety and reliability are directly related to the normal operation of the city. However, the current pre-embedded pipeline cable laying construction mainly has the following problems: in new construction projects, the inner wall defects (sharp protrusions, obstacles) of the pre-embedded pipeline cannot be effectively checked and accurately positioned. When the cable is laid in the pre-embedded pipeline, the cable surface and the pipeline wall will produce intense friction, and the sharp protrusions formed due to production quality problems of the pipeline wall will seriously scratch the cable surface, which brings hidden dangers to the later operation and maintenance. Even if the problem is found after the pre-embedding is completed, the time and economic losses caused by rework (re-excavation of pre-embedding) are also very huge. In expansion projects, it is impossible to check and locate the blockage, pressure deformation and corrosion damage of the pre-embedded pipeline. The cable pre-embedded pipeline generally adopts the strategy of "first centralized construction, then staged use", so when expanding later, the pre-embedded cable pipeline may have been used for several years or even longer. The internal debris blockage, pressure deformation and corrosion damage are unknown, and reckless cable threading construction may cause unpredictable quality and safety problems. When laying long-distance pre-embedded pipeline cables, there is great difficulty in threading the cable traction rope. When the construction personnel carry out in-pipe cable laying, they often need to pre-thread the guide line or traction rope into the laid pipeline (usually PVC pipe or other pipe materials). The current traditional threading method is to use "steel wire traction and manual debugging", but due to the low degree of intelligentization, the actual threading time is long and the efficiency is low. Moreover, if the threading is repeated and blocked, it will inevitably cause a certain degree of wear to the electric wire and cable, thereby leaving safety hazards. Based on the above problems, an intelligent auxiliary equipment for pipeline cable construction is provided, which integrates pipeline flaw detection, detection, traction and other functions, to reduce the construction quality risk.

[0003] At present, in auxiliary equipment, there are the following shortcomings in pipeline detection and maintenance pipeline robots: poor adaptability, some models of robots have high degrees of freedom, but cannot fully adapt to complex structure pipelines, especially T-shaped pipelines, L-shaped pipelines and other vertical pipelines; single function, most robots can only perform video detection or simple detection, and cannot meet the comprehensive detection and maintenance requirements; insufficient autonomy, the included angle of the robot chassis structure cannot be adjusted in real time, and when the pipeline diameter changes, the robot will not be able to continue to move forward; size limitation, six-wheel pipeline detection robots are mainly applied to large-diameter pipelines, and the robot body is large in size, which cannot meet the cable threading task of narrow-diameter pipelines; small pipeline diameter adaptation range, due to the limitation of the spring extension range, the micro-spiral wheel type pipeline robot can only adapt to the pipeline with small diameter change.

[0004] Therefore, the prior art still needs to be improved and developed. Content of the utility model

[0005] The main purpose of the present application is to provide a pipeline robot and a cable threading robot system, which aims to solve the problem that the pipeline diameter adaptation range of the pipeline robot in the prior art is small and cannot adapt to vertical pipelines, resulting in large difficulty in cable threading and pipeline detection.

[0006] The first aspect of the embodiment of the present application provides a pipeline robot, which comprises a robot main body, a first driving mechanism, a second driving mechanism, a first rubber track, a second rubber track and a detection mechanism; the first driving mechanism and the second driving mechanism are connected to the robot main body respectively, the first driving mechanism is connected with the first rubber track, the second driving mechanism is connected with the second rubber track, and the detection mechanism is arranged on the robot main body; the included angle between the first driving mechanism and the second driving mechanism is such that the first rubber track and the second rubber track always adhere to the inner wall of the pipeline with variable diameter or the vertical pipeline respectively, and the first driving mechanism is used to drive the first rubber track to move, and the second driving mechanism is used to drive the second rubber track to move, so that the robot main body and the detection mechanism move along the extension direction of the inner wall of the pipeline, and the detection mechanism is used to identify the condition of the inner wall of the pipeline.

[0007] Optionally, in one embodiment of this application, the first driving mechanism includes a first driving component, a second driving component, a first transmission component, and a second transmission component. The first driving component and the second driving component are respectively disposed on the robot body. The first driving component is connected to the first transmission component, and the second driving component is connected to the second transmission component. The first transmission component is connected to one side of the first rubber track, and the second transmission component is connected to the other side of the first rubber track. The first driving component and the second driving component drive the corresponding first transmission component and the corresponding second transmission component according to different driving parameters, so that the first rubber track at the current swing angle fits against the inner wall of the pipe. The second driving mechanism includes a third driving component, a fourth driving component, a third transmission component, and a fourth transmission component. The third driving component and the fourth driving component are respectively disposed on the robot body. The third driving component is connected to the third transmission component, and the fourth driving component is connected to the fourth transmission component. The third transmission component is connected to one side of the second rubber track, and the fourth transmission component is connected to the other side of the second rubber track. The third driving component and the fourth driving component drive the corresponding third transmission component and the corresponding fourth transmission component according to different driving parameters, so that the second rubber track at the current swing angle fits against the inner wall of the pipe.

[0008] Optionally, in one embodiment of this application, the first transmission assembly includes a first rotating member, a first connecting member, and a first fixing member; the first driving assembly is connected to the first rotating member; the first rotating member is hinged to the first connecting member; the first connecting member is hinged to the first fixing member; and the first fixing member is rotatably connected to one side of the first rubber track. The second transmission assembly includes a second rotating member, a second connecting member, and a second fixing member; the second driving assembly is connected to the second rotating member; the second rotating member is hinged to the second connecting member; the second connecting member is hinged to the second fixing member; and the second fixing member is rotatably connected to the other side of the first rubber track.

[0009] Optionally, in one embodiment of this application, the first driving component includes a first motor connected to the first rotating member, and the first motor is used to drive the first rotating member to rotate; the second driving component includes a second motor connected to the second rotating member, and the second motor is used to drive the second rotating member to rotate.

[0010] Optionally, in one embodiment of this application, the first transmission assembly further includes a first reinforcing member, which is connected to the first rotating member, the first associated member, and the first fixed member respectively. The first reinforcing member is used to restrict the relative movement between the first rotating member, the first associated member, and the first fixed member after the first motor drives the first rotating member to rotate. The second transmission assembly further includes a second reinforcing member, which is connected to the second rotating member, the second associated member, and the second fixed member respectively. The second reinforcing member is used to restrict the relative movement between the second rotating member, the second associated member, and the second fixed member after the second motor drives the second rotating member to rotate.

[0011] Optionally, in one embodiment of this application, a first drive wheel is connected to one inner end of the first rubber track, and the first drive assembly further includes a first driver connected to the first drive wheel. The first driver is used to drive the first drive wheel to rotate. A second drive wheel is connected to the other inner end of the first rubber track, and the first drive assembly further includes a second driver connected to the second drive wheel. The second driver is used to drive the second drive wheel to rotate. The rotation of the first drive wheel and the second drive wheel causes the first rubber track to move along the inner wall of the pipe.

[0012] Optionally, in one embodiment of this application, the third transmission assembly includes a third rotating member, a third connecting member, and a third fixing member; the third drive assembly is connected to the third rotating member; the third rotating member is hinged to the third connecting member; the third connecting member is hinged to the third fixing member; and the third fixing member is rotatably connected to one side of the second rubber track. The fourth transmission assembly includes a fourth rotating member, a fourth connecting member, and a fourth fixing member; the fourth drive assembly is connected to the fourth rotating member; the fourth rotating member is hinged to the fourth connecting member; the fourth connecting member is hinged to the fourth fixing member; and the fourth fixing member is rotatably connected to the other side of the second rubber track. The third drive assembly includes a third motor, which is connected to the third rotating member and drives the third rotating member to rotate. The fourth drive assembly includes a fourth motor, which is connected to the fourth rotating member and drives the fourth rotating member to rotate.

[0013] Optionally, in one embodiment of this application, the detection mechanism includes an infrared camera and a sensor assembly. The sensor assembly is disposed opposite to the infrared camera, and the infrared camera and the sensor assembly are respectively disposed on the robot body. The infrared camera is used to acquire images of the inner wall of the pipe, and the sensor assembly is used to acquire environmental data inside the pipe and the orientation of the robot body.

[0014] Optionally, in one embodiment of this application, the sensor assembly includes a tilt sensor and a temperature sensor; the tilt sensor is used to measure the tilt angle between the robot body and the pipe axis, and the temperature sensor is used to monitor the temperature state inside the pipe and the robot body.

[0015] A second aspect of this application also provides a cable threading robot system, wherein the cable threading robot system includes a pipeline robot as described in any of the above embodiments, the cable threading robot system further includes a communication system and a monitoring terminal device, the communication system is connected to the pipeline robot, the communication system is connected to the monitoring terminal device, the communication system is used to transmit the information detected by the pipeline robot to the monitoring terminal device, and send the control commands of the monitoring terminal device to the pipeline robot, the monitoring terminal device is used to monitor the pipeline robot through the communication system.

[0016] Beneficial effects: This application provides a pipeline robot and cable threading robot system. By setting the angle between the first drive mechanism and the second drive mechanism, the first rubber track and the second rubber track are always in contact with the inner wall of the pipe with varying diameter or the vertical pipe. The first drive mechanism drives the first rubber track to move, and the second drive mechanism drives the second rubber track to move, so that the robot body and the detection mechanism move along the extension direction of the inner wall of the pipe. This ensures that the pipeline robot can work in pipes with different diameters and vertical pipes, improves the applicability of the pipeline robot, and reduces the difficulty of cable threading and pipe inspection. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of a preferred embodiment of the pipeline robot of this application;

[0019] Figure 2This is a preferred embodiment of the pipeline robot of this application. Figure 1 A stereoscopic image from another perspective;

[0020] Figure 3 This is a preferred embodiment of the pipeline robot of this application. Figure 1 A stereoscopic view from another perspective;

[0021] Figure 4 This is a perspective view of the pipeline robot in a preferred embodiment of this application, with the main body of the robot hidden.

[0022] Figure 5 This is a perspective view of the connection between the first drive mechanism and the first rubber track in a preferred embodiment of the pipeline robot of this application;

[0023] Figure 6 In a preferred embodiment of the pipeline robot of this application Figure 5 A stereoscopic image from another perspective;

[0024] Figure 7 This is a perspective view of the connection between the first drive component and the first rubber track in a preferred embodiment of the pipeline robot of this application;

[0025] Figure 8 This is a perspective view showing the connection between the third and fourth drive wheels and the second rubber track in a preferred embodiment of the pipeline robot of this application.

[0026] Explanation of reference numerals in the attached figures:

[0027] 10. Robot body; 20. First drive mechanism; 30. Second drive mechanism; 40. First rubber track; 50. Second rubber track;

[0028] 21. First drive assembly; 22. Second drive assembly; 23. First transmission assembly; 24. Second transmission assembly;

[0029] 211, First motor; 212, First driver; 213, Second driver; 221, Second motor; 231, First rotating component; 232, First connecting component; 233, First fixing component; 241, Second rotating component; 242, Second connecting component; 243, Second fixing component; 401, First drive wheel; 402, Second drive wheel;

[0030] 31. Third drive assembly; 32. Fourth drive assembly; 33. Third transmission assembly; 34. Fourth transmission assembly;

[0031] 311. Third motor; 312. Third driver; 313. Fourth driver; 321. Fourth motor; 331. Third rotating component; 332. Third connecting component; 333. Third fixing component; 341. Fourth rotating component; 342. Fourth connecting component; 343. Fourth fixing component; 501. Third drive wheel; 502. Fourth drive wheel.

[0032] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0033] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only possible technical implementations of this application and not all possible implementations. Based on the embodiments in this application, those skilled in the art can obtain other embodiments without creative effort, and these embodiments are also within the protection scope of this application.

[0034] The following description, with reference to the accompanying drawings, describes a pipeline robot and cable threading robot system according to embodiments of this application. Addressing the problem mentioned above in the related art where pipeline robots have a limited range of pipe diameter adaptability and cannot adapt to vertical pipes, leading to significant difficulties in cable threading and pipe inspection, this application provides a pipeline robot. In this pipeline robot, the angle between the first and second drive mechanisms ensures that the first and second rubber tracks are always in contact with the inner wall of pipes with varying diameters or vertical pipes. The first drive mechanism drives the first rubber track, and the second drive mechanism drives the second rubber track, causing the robot body and inspection mechanism to move along the extension direction of the pipe's inner wall. This ensures the pipeline robot can work in pipes of different diameters and in vertical pipes, improving its applicability and reducing the difficulty of cable threading and pipe inspection. Therefore, this solves the technical problem in the related art where pipeline robots have a limited range of pipe diameter adaptability and cannot adapt to vertical pipes, leading to significant difficulties in cable threading and pipe inspection.

[0035] The technical solutions of this application will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0036] like Figure 1As shown in the illustration, this application provides a pipeline robot, which includes a robot body 10, a first drive mechanism 20, a second drive mechanism 30, a first rubber track 40, a second rubber track 50, and a detection mechanism. The first drive mechanism 20 and the second drive mechanism 30 are respectively connected to the robot body 10. The first drive mechanism 20 is connected to the first rubber track 40, and the second drive mechanism 30 is connected to the second rubber track 50. The detection mechanism is disposed on the robot body 10. The angle between the first drive mechanism 20 and the second drive mechanism 30 is such that the first rubber track 40 and the second rubber track 50 are always in contact with the inner wall of a pipe with varying diameter or a vertical pipe. The first drive mechanism 20 drives the first rubber track 40 to move, and the second drive mechanism 30 drives the second rubber track 50 to move, so that the robot body 10 and the detection mechanism move along the extension direction of the inner wall of the pipe. The detection mechanism is used to identify the condition of the inner wall of the pipe.

[0037] It should be noted that the first drive mechanism 20 and the second drive mechanism 30 allow the angle between the first rubber track 40 and the second rubber track 50 to be adjusted to adapt to the pipe diameter, thereby enabling the first rubber track 40 and the second rubber track 50 to abut against the inner wall of the pipe and drive the robot body 10 and the detection mechanism to move. That is, by adjusting the distance between the wheels (i.e., the angle between the first rubber track 40 and the second rubber track 50), it can be used for pipes with different diameter ranges, and further, it can be used for vertical pipes, and can rise or fall along the inner wall of the vertical pipe.

[0038] It is understandable that both the first rubber track 40 and the second rubber track 50 are rubber tracks, meaning the tracks are elastic and can abut against the inner wall of the pipe. When the inner diameter of the pipe changes, the first drive mechanism 20 and the second drive mechanism 30, due to the elasticity of the rubber tracks, enable the first rubber track 40 and the second rubber track 50 to abut against the inner wall of the pipe during the adjustment process, and ensure that the contact area between the rubber track and the inner wall of the pipe is large after adjustment to meet the travel requirements.

[0039] In one embodiment of this application, see Figure 1 , Figure 2 , Figure 3 and Figure 4The first drive mechanism 20 includes a first drive assembly 21, a second drive assembly 22, a first transmission assembly 23, and a second transmission assembly 24. The first drive assembly 21 and the second drive assembly 22 are respectively disposed on the robot body 10. The first drive assembly 21 is connected to the first transmission assembly 23, and the second drive assembly 22 is connected to the second transmission assembly 24. The first transmission assembly 23 is connected to one side of the first rubber track 40, and the second transmission assembly 24 is connected to the other side of the first rubber track 40. The first drive assembly 21 and the second drive assembly 22 drive the corresponding first transmission assembly 23 and the corresponding second transmission assembly 24 according to different drive parameters, so that the first rubber track 40 at the current swing angle fits the pipe. The inner wall; the second driving mechanism 30 includes a third driving component 31, a fourth driving component 32, a third transmission component 33, and a fourth transmission component 34. The third driving component 31 and the fourth driving component 32 are respectively disposed on the robot body 10. The third driving component 31 is connected to the third transmission component 33, and the fourth driving component 32 is connected to the fourth transmission component 34. The third transmission component 33 is connected to one side of the second rubber track, and the fourth transmission component 34 is connected to the other side of the second rubber track. The third driving component 31 and the fourth driving component 32 drive the corresponding third transmission component 33 and the corresponding fourth transmission component 34 according to different driving parameters, so that the second rubber track 50 at the current swing angle fits against the inner wall of the pipe.

[0040] In one embodiment of this application, see Figure 4 and Figure 5 The first transmission assembly 23 includes a first rotating member 231, a first connecting member 232, and a first fixing member 233. The first drive assembly 21 is connected to the first rotating member 231. The first rotating member 231 is hinged to the first connecting member 232. The first connecting member 232 is hinged to the first fixing member 233. The first fixing member 233 is rotatably connected to one side of the first rubber track 40. The second transmission assembly 24 includes a second rotating member 241, a second connecting member 242, and a second fixing member 243. The second drive assembly 22 is connected to the second rotating member 241. The second rotating member 241 is hinged to the second connecting member 242. The second connecting member 242 is hinged to the second fixing member 243. The second fixing member 243 is rotatably connected to the other side of the first rubber track 40.

[0041] In one embodiment of this application, see Figure 4The first drive assembly 21 includes a first motor 211, which is connected to the first rotating member 231 and is used to drive the first rotating member 231 to rotate; the second drive assembly 22 includes a second motor 221, which is connected to the second rotating member 241 and is used to drive the second rotating member 241 to rotate.

[0042] In this embodiment, the lower edges of the first fixing member 233 and the second fixing frame are within the outer contour edge of the first rubber track 40, thereby facilitating the angle adjustment of the first rubber track 40 in the pipe. The same applies to the second rubber track 50, which will not be described in detail here.

[0043] In one embodiment of this application, the first transmission assembly 23 further includes a first reinforcing member, which is connected to the first rotating member 231, the first connecting member 232, and the first fixing member 233 respectively. The first reinforcing member is used to restrict the relative movement between the first rotating member 231, the first connecting member 232, and the first fixing member 233 after the first motor 211 drives the first rotating member 231 to rotate. The second transmission assembly 24 further includes a second reinforcing member, which is connected to the second rotating member 241, the second connecting member 242, and the second fixing member 243 respectively. The second reinforcing member is used to restrict the relative movement between the second rotating member 241, the second connecting member 242, and the second fixing member 243 after the second motor 221 drives the second rotating member 241 to rotate.

[0044] It should be noted that the reinforcement components are not shown in the figure. The reinforcement components prevent wobbling between the connecting parts and the fixed parts, thereby improving the robot's stability.

[0045] In one embodiment of this application, see Figure 5 , Figure 6 and Figure 7 The first rubber track 40 has a first drive wheel 401 connected to one inner end. The first drive assembly 21 also includes a first driver 212, which is connected to the first drive wheel 401 and is used to drive the first drive wheel 401 to rotate. The first rubber track 40 has a second drive wheel 402 connected to the other inner end. The first drive assembly 21 also includes a second driver 213, which is connected to the second drive wheel 402 and is used to drive the second drive wheel 402 to rotate. The rotation of the first drive wheel 401 and the second drive wheel 402 causes the first rubber track 40 to move along the inner wall of the pipe.

[0046] In one embodiment of this application, see Figure 4 The third transmission assembly 33 includes a third rotating member 331, a third connecting member 332, and a third fixing member 333. The third drive assembly 31 is connected to the third rotating member 331. The third rotating member 331 is hinged to the third connecting member 332. The third connecting member 332 is hinged to the third fixing member 333. The third fixing member 333 is rotatably connected to one side of the second rubber track 50. The fourth transmission assembly 34 includes a fourth rotating member 341, a fourth connecting member 342, and a fourth fixing member 343. The fourth drive assembly 32 is connected to the fourth rotating member 341. The fourth connecting member 341 is hinged to the fourth connecting member 342, the fourth connecting member 342 is hinged to the fourth fixing member 343, and the fourth fixing member 343 is rotatably connected to the other side of the second rubber track 50; the third drive assembly 31 includes a third motor 311, which is connected to the third rotating member 331 and is used to drive the third rotating member 331 to rotate; the fourth drive assembly 32 includes a fourth motor 321, which is connected to the fourth rotating member 341 and is used to drive the fourth rotating member 341 to rotate.

[0047] In one embodiment of this application, see Figure 8 The second rubber track 50 has a third drive wheel 501 connected to one inner end. The second drive assembly 22 also includes a third driver 312, which is connected to the third drive wheel 501 and is used to drive the third drive wheel 501 to rotate. The second rubber track 50 has a fourth drive wheel 502 connected to the other inner end. The second drive assembly 22 also includes a fourth driver 313, which is connected to the fourth drive wheel 502 and is used to drive the fourth drive wheel 502 to rotate. The rotation of the third drive wheel 501 and the fourth drive wheel 502 causes the second rubber track 50 to move along the inner wall of the pipe.

[0048] In this embodiment, when the pipe diameter increases, the first motor 211 controls one side of the first rubber track 40 to rotate counterclockwise by 10 degrees through the first rotating component 231, the first connecting component 232, and the first fixing component 233, and the second motor 221 controls the other side of the first rubber track 40 to rotate counterclockwise by 30 degrees through the second rotating component 241, the second connecting component 242, and the second fixing component 243, thereby maintaining the track wheel in contact with the inner wall of the pipe.

[0049] In this embodiment of the application, in the vertical pipe, the first motor 211, the second motor 221, the third motor 311 and the fourth motor 321 can make the first rubber track 40 and the second rubber track 50 form an angle of 180 degrees (not limited to this, it can also be 70 degrees or 80 degrees), ensuring that the two rubber tracks abut against the inner wall of the vertical pipe, thereby controlling the robot body 10 and the detection mechanism to move through the first driver 212, the second driver 213, the third driver 312 and the fourth driver 313.

[0050] This application provides a motion mechanism that can adapt to different terrains in different pipes, enabling the robot to move flexibly in pipes with diameters of 100mm-250mm.

[0051] In one embodiment of this application, the detection mechanism includes an infrared camera and a sensor assembly. The sensor assembly is disposed opposite to the infrared camera. The infrared camera and the sensor assembly are respectively disposed on the robot body 10. The infrared camera is used to collect images of the inner wall of the pipe, and the sensor assembly is used to collect environmental data inside the pipe and the orientation of the robot body 10.

[0052] In one embodiment of this application, the sensor assembly includes a tilt sensor and a temperature sensor; the tilt sensor is used to measure the tilt angle between the robot body 10 and the pipe axis, and the temperature sensor is used to monitor the temperature state inside the pipe and the robot body 10.

[0053] Tilt sensors are used to measure and monitor the tilt angle between the robot's body and the pipe axis. By measuring the robot's tilt angle in real time, the robot's direction and position in the pipe can be precisely controlled, especially in complex and changing pipe environments. When the robot encounters pipe bends or obstacles, the tilt sensor can detect changes in the robot's tilt in a timely manner, thereby triggering corresponding obstacle avoidance or adjustment strategies to prevent the robot from colliding with or getting stuck against the pipe wall. By analyzing changes in the robot's tilt angle during its movement, the robot's stability and safety in the pipe can be assessed, providing timely early warning information to operators.

[0054] Temperature sensors are used to monitor the temperature inside the pipe and the robot itself: when the temperature inside the pipe is too high, the temperature sensor can issue an early warning signal in time, reminding the operator to take measures to protect the robot from high temperature damage, such as reducing the travel speed or pausing the operation; it can assess the robot's adaptability to the current working environment, providing decision support for the operator, such as selecting appropriate working time and adjusting the working strategy; it can analyze the robot's energy efficiency performance under different temperature conditions, thereby optimizing the robot's energy consumption management strategy and improving work efficiency.

[0055] Based on the above embodiments, this application also provides a cable threading robot system, wherein the cable threading robot system includes a pipeline robot as described in any of the above solutions, the cable threading robot system further includes a communication system and a monitoring terminal device, the communication system is connected to the pipeline robot, the communication system is connected to the monitoring terminal device, the communication system is used to transmit the information detected by the pipeline robot to the monitoring terminal device, and send the control commands of the monitoring terminal device to the pipeline robot, and the monitoring terminal device is used to monitor the pipeline robot through the communication system.

[0056] Specifically, the communication system includes optical fibers, photoelectric converters, and a network interface. The robot transmits data to the photoelectric converter via the network interface, which converts the electrical signal into an optical signal and transmits it through the optical fiber. At the monitoring terminal device, another photoelectric converter converts the optical signal back into an electrical signal.

[0057] Specifically, the monitoring terminal equipment displays real-time images of the area within the tube via a touchscreen and provides a robot control interface. Operators can control the robot's movement and adjust the camera angle through the touchscreen.

[0058] To address the issues of low efficiency and high difficulty in existing cable threading technologies for long-distance, narrow-diameter conduits, this application presents a cable threading robot system for use in long-distance, narrow-diameter pre-buried conduits. This system significantly improves the efficiency and reliability of cable threading in such conduits, while reducing construction difficulty and labor costs. Simultaneously, real-time image transmission and intelligent detection functions effectively ensure construction quality and safety. This application features adaptive pipe diameter and traction force adjustment capabilities, adapting to pipes of different diameters and generating sufficient traction force. It employs fiber optic or WiFi communication to achieve long-distance communication between the robot and external monitoring equipment. Equipped with an infrared camera, it can transmit images of the conduit interior to external monitoring equipment in real time.

[0059] In this embodiment, the cable threading robot system is capable of adaptive movement in complex terrain, long-distance communication, real-time image transmission, intelligent detection, and efficient traction. It achieves stable communication and power supply in pipelines exceeding 500 meters in length. Through a fiber optic communication scheme, using photoelectric converters and dedicated optical fibers, and employing fiber optic cable composite materials, it provides stable power supply and communication. A low-power active infrared camera is used to achieve real-time image transmission in dark environments and can automatically detect pipe wall anomalies.

[0060] The cable threading robot system of this application embodiment has the following advantages: it can thread cables efficiently, and the robot can thread cables in pipes with long distances (≥500m) and narrow diameters (≥100mm), significantly improving construction efficiency; it has strong adaptability, enabling the robot to adapt to pipes of different diameters, expanding its application range; it provides real-time monitoring, and through infrared cameras and remote communication, operators can view the inside of the pipe in real time, improving construction safety; it has intelligent detection, and can automatically identify pipe wall abnormalities, improving detection efficiency and accuracy; and it has low cost, significantly reducing labor costs and construction time compared to traditional manual threading methods.

[0061] In the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0062] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0063] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] It should be noted that, in this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0065] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0066] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this disclosure. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 application.

Claims

1. A pipeline robot, characterized in that, The pipeline robot includes a robot body, a first drive mechanism, a second drive mechanism, a first rubber track, a second rubber track, and a detection mechanism; The first drive mechanism and the second drive mechanism are respectively connected to the robot body. The first drive mechanism is connected to the first rubber track, and the second drive mechanism is connected to the second rubber track. The detection mechanism is disposed on the robot body. The angle between the first driving mechanism and the second driving mechanism ensures that the first rubber track and the second rubber track are always in contact with the inner wall of the pipe with varying diameter or the vertical pipe. The first driving mechanism drives the first rubber track to move, and the second driving mechanism drives the second rubber track to move, so that the robot body and the detection mechanism move along the extension direction of the inner wall of the pipe. The detection mechanism is used to identify the condition of the inner wall of the pipe.

2. The pipeline robot according to claim 1, characterized in that, The first driving mechanism includes a first driving component, a second driving component, a first transmission component, and a second transmission component. The first driving component and the second driving component are respectively disposed on the robot body. The first driving component is connected to the first transmission component, and the second driving component is connected to the second transmission component. The first transmission component is connected to one side of the first rubber track, and the second transmission component is connected to the other side of the first rubber track. The first driving component and the second driving component drive the corresponding first transmission component and the corresponding second transmission component according to different driving parameters, so that the first rubber track at the current swing angle fits against the inner wall of the pipe. The second driving mechanism includes a third driving component, a fourth driving component, a third transmission component, and a fourth transmission component. The third driving component and the fourth driving component are respectively disposed on the robot body. The third driving component is connected to the third transmission component, and the fourth driving component is connected to the fourth transmission component. The third transmission component is connected to one side of the second rubber track, and the fourth transmission component is connected to the other side of the second rubber track. The third driving component and the fourth driving component drive the corresponding third transmission component and the corresponding fourth transmission component according to different driving parameters, so that the second rubber track at the current swing angle fits against the inner wall of the pipe.

3. The pipeline robot according to claim 2, characterized in that, The first transmission assembly includes a first rotating member, a first connecting member, and a first fixing member. The first drive assembly is connected to the first rotating member. The first rotating member is hinged to the first connecting member. The first connecting member is hinged to the first fixing member. The first fixing member is rotatably connected to one side of the first rubber track. The second transmission assembly includes a second rotating member, a second connecting member, and a second fixing member. The second drive assembly is connected to the second rotating member. The second rotating member is hinged to the second connecting member. The second connecting member is hinged to the second fixing member. The second fixing member is rotatably connected to the other side of the first rubber track.

4. The pipeline robot according to claim 3, characterized in that, The first drive component includes a first motor, which is connected to the first rotating member, and the first motor is used to drive the first rotating member to rotate. The second drive assembly includes a second motor, which is connected to the second rotating member, and the second motor is used to drive the second rotating member to rotate.

5. The pipeline robot according to claim 4, characterized in that, The first transmission assembly further includes a first reinforcing member, which is connected to the first rotating member, the first connecting member, and the first fixing member respectively. The first reinforcing member is used to limit the relative movement between the first rotating member, the first connecting member, and the first fixing member after the first motor drives the first rotating member to rotate. The second transmission assembly further includes a second reinforcing member, which is connected to the second rotating member, the second connecting member, and the second fixing member respectively. The second reinforcing member is used to limit the relative movement between the second rotating member, the second connecting member, and the second fixing member after the second motor drives the second rotating member to rotate.

6. The pipeline robot according to claim 2, characterized in that, The first rubber track is connected to a first drive wheel at one inner end. The first drive assembly also includes a first driver, which is connected to the first drive wheel and is used to drive the first drive wheel to rotate. The first rubber track is connected to a second drive wheel at the other inner end. The first drive assembly also includes a second driver, which is connected to the second drive wheel and is used to drive the second drive wheel to rotate. The rotation of the first drive wheel and the second drive wheel causes the first rubber track to move along the inner wall of the pipe.

7. The pipeline robot according to claim 2, characterized in that, The third transmission assembly includes a third rotating component, a third connecting component, and a third fixing component. The third drive assembly is connected to the third rotating component. The third rotating component is hinged to the third connecting component. The third connecting component is hinged to the third fixing component. The third fixing component is rotatably connected to one side of the second rubber track. The fourth transmission assembly includes a fourth rotating member, a fourth connecting member, and a fourth fixing member. The fourth drive assembly is connected to the fourth rotating member. The fourth rotating member is hinged to the fourth connecting member. The fourth connecting member is hinged to the fourth fixing member. The fourth fixing member is rotatably connected to the other side of the second rubber track. The third drive component includes a third motor, which is connected to the third rotating member and is used to drive the third rotating member to rotate. The fourth drive component includes a fourth motor, which is connected to the fourth rotating member and is used to drive the fourth rotating member to rotate.

8. The pipeline robot according to claim 1, characterized in that, The detection mechanism includes an infrared camera and a sensor assembly. The sensor assembly is arranged opposite to the infrared camera. The infrared camera and the sensor assembly are respectively mounted on the robot body. The infrared camera is used to collect images of the inner wall of the pipe, and the sensor assembly is used to collect environmental data inside the pipe and the orientation of the robot body.

9. The pipeline robot according to claim 8, characterized in that, The sensor assembly includes a tilt sensor and a temperature sensor; The tilt sensor is used to measure the tilt angle between the robot body and the pipeline axis, and the temperature sensor is used to monitor the temperature status inside the pipeline and the robot body.

10. A cable threading robot system, characterized in that, The cable threading robot system includes a pipeline robot as described in any one of claims 1 to 9. The cable threading robot system further includes a communication system and a monitoring terminal device. The communication system is connected to the pipeline robot and the monitoring terminal device. The communication system is used to transmit the information detected by the pipeline robot to the monitoring terminal device and to send the control commands of the monitoring terminal device to the pipeline robot. The monitoring terminal device is used to monitor the pipeline robot through the communication system.

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