Crossing type pipeline robot

Abstract

The utility model discloses a crossing type pipeline robot which comprises a main body box and two transmission boxes, the main body box and the two transmission boxes are horizontally arranged in the front-back direction, the two transmission boxes are located on the two sides of the main body box respectively, the distance between the two transmission boxes and the main body box is adjustable, and driving parts are arranged in the two transmission boxes. Wheels are arranged on the sides, away from each other, of the two transmission boxes, the driving parts are in transmission connection with axles of the corresponding wheels, and the distance between the two transmission boxes is adjusted, namely, the distance between the wheels on the two sides of the crossing type pipeline robot is adjusted. In this way, the wheels on the two sides of the crossing type pipeline robot can be attached to the inner wall of the pipeline and suspend in the middle of the pipeline to run, and at the moment, even if water flows in the pipeline, normal running of the crossing type pipeline robot cannot be affected.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline robots, and in particular relates to a transverse pipeline robot. Background Technology

[0002] Currently, the pipeline robots used for inspecting underground drainage pipe networks are mostly tracked and wheeled pipeline robots. However, these types of pipeline robots have poor adaptability to pipe diameters, mainly because the pipe diameters they can match are relatively fixed. For underground drainage pipe networks, there is continuous water flow in the pipes. At this time, tracked and wheeled pipeline robots need to travel in the water flow, which may affect the stability of the equipment and the accuracy of the detection. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a traversing pipe robot with a simple structure that can adapt to traversing pipes of different diameters.

[0004] To achieve the above objectives, the technical solution of this utility model is as follows: A transverse pipeline robot includes a main body box and two transmission boxes arranged horizontally along the front-back direction, with the two transmission boxes located on both sides of the main body box, and the distance between the two transmission boxes and the main body box is adjustable. A driving component is provided in each of the two transmission boxes, and a wheel is rotatably installed on the side of each of the two transmission boxes that is far apart from each other, and the driving component is respectively connected to the axle of the corresponding wheel.

[0005] The beneficial effect of the above technical solution is that by adjusting the distance between the two transmission boxes, which is equivalent to adjusting the distance between the wheels on both sides of the transverse pipeline robot, the wheels on both sides of the transverse pipeline robot can be in contact with the inner wall of the pipeline and travel suspended in the middle of the pipeline. At this time, even if there is water flow in the pipeline, it will not affect the normal travel of the transverse pipeline robot.

[0006] In the above technical solution, each of the transmission boxes is provided with multiple wheels spaced apart along the front-to-back direction.

[0007] The beneficial effect of the above technical solution is that it makes the transverse pipeline robot more stable when it travels in the pipeline.

[0008] In the above technical solution, the main body box is embedded with a double-acting slide telescopic cylinder arranged horizontally in the left-right direction. The two transmission boxes are respectively connected to the telescopic ends of the double-acting slide telescopic cylinder. The double-acting slide telescopic cylinder is used to synchronously adjust the distance between the two transmission boxes and the main body box.

[0009] The advantages of the above technical solution are that it has a simple structure and a high degree of automation, which allows the distance between the two transmission boxes to be flexibly adjusted by the double-acting slide telescopic cylinder.

[0010] The driving component described in the above technical solution is a servo motor.

[0011] The beneficial effect of the above technical solution is that the travel speed of the entire transverse pipeline robot can be adjusted as needed.

[0012] The main body box described in the above technical solution is equipped with a power supply module and a control module. The power supply module, the drive component, and the double-acting slide telescopic cylinder are all electrically connected to the control module.

[0013] The beneficial effect of the above technical solution is that it enables the transverse pipeline robot to operate independently with a power supply.

[0014] In the above technical solution, a probe is provided at the front end of the main body box, and the probe is electrically connected to the control module.

[0015] The beneficial effect of the above technical solution is that the probe can detect the actual situation inside the pipeline.

[0016] In the above technical solution, the rear end of the main box is provided with a dual power connection socket with communication and power supply functions. The power supply end of the dual power connection socket is electrically connected to the power supply module, and the communication end of the dual power connection socket is electrically connected to the control module.

[0017] The beneficial effect of the above technical solution is that it enables the traverse pipeline robot to be powered by composite cables and to communicate with the ground in real time.

[0018] The wheel described in the above technical solution is frustum-shaped, with its thicker end close to the corresponding transmission box.

[0019] The beneficial effect of the above technical solution is that it makes the contact between the wheel and the inner wall of the pipe better.

[0020] The wheel surface described in the above technical solution is provided with friction patterns.

[0021] The beneficial effect of the above technical solution is that it can prevent the wheels from slipping inside the pipe.

[0022] Both the transmission box and the main body box described in the above technical solution are cuboid in shape.

[0023] The advantages of the above technical solution are that it has a simple structure and good aesthetics. Attached Figure Description

[0024] Figure 1 This is a rear view of the transverse pipeline robot described in this embodiment of the utility model;

[0025] Figure 2 This is a top view of the transverse pipeline robot described in this embodiment of the utility model;

[0026] Figure 3 This is a cross-sectional view of the transmission box described in an embodiment of this utility model;

[0027] Figure 4 This is a schematic diagram of the transverse pipeline robot described in this embodiment of the invention operating inside a pipeline;

[0028] Figure 5 This is a schematic diagram of the electrical connections of the control module described in an embodiment of this utility model.

[0029] In the diagram: 10. Transverse pipeline robot; 1. Main body box; 2. Transmission box; 21. Transition gear; 3. Drive component; 31. Active gear; 4. Wheel; 41. Passive gear; 5. Double-acting slide telescopic cylinder; 6. Power supply module; 7. Control module; 8. Probe head; 9. Dual power connection socket; 20. Pipeline. Detailed Implementation

[0030] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are for illustrative purposes only and are not intended to limit the scope of this utility model. The utility model is described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of this utility model will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of this utility model.

[0031] like Figures 1-4 As shown, this embodiment provides a transverse pipeline robot, including a main body box 1 and two transmission boxes 2, both horizontally arranged in the front-to-back direction. The two transmission boxes 2 are located on both sides of the main body box 1, and the distance between the two transmission boxes 2 and the main body box 1 is adjustable. A drive component 3 is provided inside each of the two transmission boxes 2. A wheel 4 is rotatably mounted on the side of each transmission box 2 that is far apart from each other, and the drive component 3 is respectively connected to the axle of the corresponding wheel 4. By adjusting the distance between the two transmission boxes, it is equivalent to adjusting the distance between the wheels on both sides of the transverse pipeline robot. This allows the wheels on both sides of the transverse pipeline robot to be in contact with the inner wall of the pipeline and to travel suspended in the middle of the pipeline. At this time, even if there is water flowing in the pipeline, it will not affect the normal travel of the transverse pipeline robot.

[0032] like Figure 2 and Figure 3As shown, in the above technical solution, each transmission box 2 is provided with multiple wheels 4 spaced apart along the front-to-back direction, which improves the stability of the transverse pipeline robot when it travels inside the pipeline. The wheels 4 are frustoconical, with their thicker ends close to the corresponding transmission box 2, thus improving the contact effect between the wheels and the inner wall of the pipeline. More preferably, the wheel surface (i.e., the conical surface) is convex, further enhancing its contact with the inner wall of the pipeline. Friction patterns are provided on the wheel surface to prevent slippage inside the pipeline.

[0033] In this embodiment, the wheel can be a rubber wheel, which makes it highly wear-resistant.

[0034] Preferred, such as Figure 2 and Figure 3 As shown, the transmission box can have two wheels, each fixedly connected to its axle on the same axis. The axle is rotatably connected to the corresponding transmission box, with its end away from the wheel passing through the transmission box for transmission connection with the drive component. Specifically, the two wheels corresponding to each transmission box share one drive component. Specifically, the drive component 3 is a servo motor, allowing the travel speed of the entire transverse pipeline robot to be adjusted as needed. The drive end of the drive component is equipped with an active gear 31, and the axle of each wheel located inside the transmission box is equipped with a passive gear 41. The active gear is located between the two passive gears, and a transition gear is also provided between each active and passive gear. Specifically, the number of transition gears between each passive gear and the active gear is the same, ensuring that the rotation direction and speed of the two wheels remain consistent (the diameters of the passive gears and the transition gears are also consistent). In this embodiment, each transition gear 21 also has a gear shaft connected to the transmission box (the transition gear can be rotatably connected to its gear shaft on the same axis).

[0035] In this embodiment, the rotation speed and direction of rotation of the two driving components are always consistent (since the servo motors can provide real-time feedback of their rotation speed, the rotation speed of the two driving components can be controlled relatively precisely).

[0036] like Figure 1 and Figure 2As shown, in the above technical solution, the main body box 1 is embedded with a double-acting sliding telescopic cylinder 5 arranged horizontally in the left-right direction. The two transmission boxes 2 are respectively connected to the corresponding telescopic ends of the double-acting sliding telescopic cylinder 5. The double-acting sliding telescopic cylinder 5 is used to synchronously adjust the distance between the two transmission boxes 2 and the main body box 1. Its structure is simple and highly automated, allowing for flexible adjustment of the distance between the two transmission boxes. The double-acting sliding telescopic cylinder can be installed through-type in the middle of the main body box. In this embodiment, the two telescopic ends of the double-acting sliding telescopic cylinder extend or retract synchronously. Preferably, both the transmission box 2 and the main body box 1 are cuboid in shape, with a simple structure and good aesthetics. Both the main body box and the transmission box can be rectangular boxes with hollow interiors.

[0037] like Figure 5 As shown, the main body box 1 in the above technical solution is equipped with a power supply module 6 and a control module 7. The power supply module 6, the drive component 3, and the double-acting slide telescopic cylinder 5 are all electrically connected to the control module 7, thus enabling the transverse pipeline robot to operate independently with a power supply. The control module can be an ARM series microcontroller, and the power supply module is a battery, specifically a lithium battery pack.

[0038] like Figure 2 and Figure 5 As shown, the front end of the main body box 1 in the above technical solution is provided with a probe 8, which is electrically connected to the control module 7. In this way, the probe can detect the actual situation inside the pipeline. In this embodiment, the probe can be a camera or a laser ranging radar, etc.

[0039] like Figure 2 and Figure 5 As shown, the rear end of the main body box 1 in the above technical solution is provided with a dual power connection socket 9 with communication and power supply functions. The power supply end of the dual power connection socket 9 is electrically connected to the power supply module 6, and the communication end of the dual power connection socket 9 is electrically connected to the control module 7. This enables the cross-pipeline robot to be powered by a composite cable and to communicate with the ground in real time.

[0040] Specifically, in this embodiment, the dual-power connection socket is used to match the dual-power connection plug. In this embodiment, the composite cable is a dual-power cable for both power supply and communication. One end of the cable is equipped with a dual-power connection plug to facilitate docking with the dual-power connection socket, while the other end is electrically connected to the ground terminal device (which may be a computer) and the power supply, respectively.

[0041] In this embodiment, the main box also has a power adapter circuit, and the dual-use power connector and the power supply module are electrically connected through the power adapter circuit.

[0042] The maximum width of the traverse pipe robot provided in this embodiment is equivalent to the diameter of the pipe during operation. The speed at which the traverse pipe robot provided in this embodiment travels inside the pipe can be 5-30 m / min.

[0043] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any way. Those skilled in the art can readily implement this utility model based on the accompanying drawings and the above description. However, any modifications, alterations, or equivalent variations made by those skilled in the art without departing from the scope of the utility model's technical solution, utilizing the disclosed technical content, are considered equivalent embodiments of this utility model. Furthermore, any equivalent changes, alterations, or variations made to the above embodiments based on the essential technology of this utility model are still within the protection scope of this utility model's technical solution.

Claims

1. A traversing pipeline robot, characterized in that, It includes a main body box (1) and two transmission boxes (2) arranged horizontally along the front-back direction. The two transmission boxes (2) are located on both sides of the main body box (1), and the distance between the two transmission boxes (2) and the main body box (1) is adjustable. A driving component (3) is provided in the two transmission boxes (2). A wheel (4) is rotatably installed on the side of the two transmission boxes (2) that is far away from each other, and the driving component (3) is connected to the axle of the corresponding wheel (4) for transmission.

2. The traverse pipeline robot according to claim 1, characterized in that, Each of the transmission boxes (2) is provided with multiple wheels (4) spaced apart along the front-to-back direction.

3. The traverse pipeline robot according to claim 1, characterized in that, The main body box (1) is fitted with a double-acting slide telescopic cylinder (5) arranged horizontally in the left and right direction. The two transmission boxes (2) are respectively connected to the telescopic ends of the double-acting slide telescopic cylinder (5). The double-acting slide telescopic cylinder (5) is used to synchronously adjust the distance between the two transmission boxes (2) and the main body box (1).

4. The traverse pipeline robot according to claim 1, characterized in that, The driving component (3) is a servo motor.

5. The traverse pipeline robot according to claim 3, characterized in that, The main body box (1) is equipped with a power supply module (6) and a control module (7). The power supply module (6), the drive component (3) and the double-acting slide telescopic cylinder (5) are all electrically connected to the control module (7).

6. The traverse pipeline robot according to claim 5, characterized in that, The front end of the main body box (1) is provided with a probe (8), which is electrically connected to the control module (7).

7. The traverse pipeline robot according to claim 5, characterized in that, The rear end of the main body box (1) is provided with a dual power connection socket (9) with communication and power supply functions. The power supply end of the dual power connection socket (9) is electrically connected to the power supply module (6), and the communication end of the dual power connection socket (9) is electrically connected to the control module (7).

8. The traverse pipeline robot according to claim 1, characterized in that, The wheel (4) is frustum-shaped, and its thicker end is close to the corresponding transmission box (2).

9. The traverse pipeline robot according to claim 8, characterized in that, The wheel (4) has friction patterns on its surface.

10. The traverse pipeline robot according to any one of claims 1-9, characterized in that, Both the transmission box (2) and the main body box (1) are cuboid in shape.

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