Pipeline detection robot capable of actively turning and jumping to avoid obstacles by medium thrust

Abstract

The utility model discloses a pipeline detection robot capable of actively turning and jumping to avoid obstacles by means of medium thrust, relates to the field of pipeline robots, and aims to provide a pipeline detection robot which is low in energy consumption and convenient to move and turn. The pipeline detection robot comprises a robot body, a steering control mechanism and a bouncing system are arranged on the robot body, the steering control mechanism is connected with an umbrella-shaped structure through a steering frame, the umbrella-shaped structure comprises a lead screw driving motor, the lead screw driving motor drives a lead screw to rotate, and the bouncing system drives the lead screw to rotate. A lead screw is arranged on the robot body, a middle sliding block is arranged on the lead screw, an umbrella support short rod is movably connected to the middle sliding block, an umbrella support rod is hinged to the umbrella support short rod, an umbrella wrapping skin is arranged on the umbrella support rod, and the bouncing system comprises two push-pull type electromagnets arranged on the lower portion of the robot body.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, and in particular to a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. Background Technology

[0002] During routine maintenance of gas pipelines, workers need to perform online inspections. Since the inside of the pipelines cannot be directly inspected manually, workers usually need to use pipeline robots to assist in the inspection.

[0003] A pipeline robot is an integrated mechatronics system capable of automatically navigating the inside or outside of narrow pipes, carrying one or more sensors and operating mechanisms, and performing a series of pipeline operations under remote control by personnel or automatic computer control. Existing pipeline robots, when performing online inspections, primarily rely on their own power for movement, turning, and obstacle avoidance. Power sources include onboard batteries or power supplied via a towed cable, resulting in high energy consumption and high manufacturing costs.

[0004] Therefore, how to reduce the energy consumption of pipeline robots during operation has become an urgent problem for enterprises to solve in the production process. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a pipeline inspection robot with low energy consumption and easy robot movement and turning.

[0006] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium. It includes a robot body, a steering control mechanism and a jumping system. The steering control mechanism is connected to an umbrella-shaped structure via a steering frame. The umbrella-shaped structure includes a lead screw drive motor that drives the lead screw to rotate. A middle slider is provided on the lead screw, and a short umbrella support rod is movably connected to the middle slider. The short umbrella support rod is hinged to an umbrella support rod, and an outer umbrella sheath is provided on the umbrella support rod. The jumping system includes two push-pull electromagnets located at the lower part of the robot body.

[0007] When the lead screw drive motor drives the lead screw to rotate, the middle slider drives the short rod of the umbrella bracket and the umbrella bracket rod to swing, realizing the opening and closing of the umbrella structure; when the push rod of the push-pull electromagnet extends, it can move the robot structure away from obstacles, and in conjunction with the power system, realize the jumping function.

[0008] This invention relates to a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium. The lead screw drive motor is mounted on an umbrella-shaped motor mounting base, which is fixedly connected to a steering frame. When the steering control mechanism controls the movement of the steering frame, the umbrella-shaped structure can rotate as a whole.

[0009] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. The lead screw drive motor is driven by the lead screw through a set of pulleys. One pulley is connected to the output shaft of the lead screw drive motor, and the other pulley is fixedly connected to one end of the lead screw.

[0010] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. The two ends of the lead screw are respectively provided with optical shafts, and pressure plates are respectively installed through the two optical shafts. That is, when the lead screw rotates, it will not drive the pressure plates to rotate. Several pull rods are fixedly connected between the two pressure plates, and the pull rods are connected to the pressure plates by threads.

[0011] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. The pull rod passes through the middle slider, and the middle slider is connected to the lead screw through the thread. That is, the middle slider can slide on the pull rod and move with the rotation of the lead screw.

[0012] This invention relates to a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium. The robot comprises a central slider and a pressure plate near the steering frame, each surrounded by several connecting rods. A short umbrella support rod is mounted on the connecting rod of the central slider, and a full umbrella support rod is mounted on the connecting rod of the pressure plate. Both the short umbrella support rod and the full umbrella support rod can rotate around the connecting rods.

[0013] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium. The steering control mechanism includes a main steering base, on which a first servo motor is mounted. The first servo motor drives a first bevel gear set to rotate, and the output gear of the first bevel gear set rotates in a horizontal plane and is fixedly connected to an upper auxiliary steering base. A second servo motor is mounted on the auxiliary steering base, which drives a second bevel gear set to rotate. The output gear of the second bevel gear set rotates in a vertical plane and is fixedly connected to a steering spindle. A fork-shaped connector is mounted on the steering spindle and is fixedly connected to a steering frame.

[0014] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. The bottom of the auxiliary steering base is provided with a rotating shaft, which is installed in accordance with the shaft hole above the output gear of the first bevel gear set, so that the first bevel gear set can drive the auxiliary steering base to rotate.

[0015] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. A thrust bearing is provided between the output gear of the first bevel gear set and the top of the main steering base. The thrust bearing can keep the output power direction of the output gear unchanged, and can also reduce the friction between the output gear and the main steering base, thereby extending the service life of the gear.

[0016] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium. The robot body includes a support frame, on which a wheel drive motor is installed. The wheel drive motor drives the drive wheel to rotate via a belt.

[0017] This utility model, a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, differs from existing technologies in that it utilizes the opening and angle changes of its umbrella-shaped structure to accelerate the robot's movement using medium pressure and change its direction of travel. It can also use the thrust of the medium to climb vertical pipes, thus significantly reducing energy consumption and improving robot maneuverability. Furthermore, this utility model includes a bouncing system that enables the robot to actively jump and avoid obstacles.

[0018] The following description, in conjunction with the accompanying drawings, further illustrates a pipeline inspection robot of this invention that actively turns and jumps to avoid obstacles using the thrust of the medium. Attached Figure Description

[0019] Figure 1 This is a three-dimensional view from the upper left of the present invention, showing a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium.

[0020] Figure 2 This is a schematic diagram of the umbrella-shaped structure in a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, according to this utility model.

[0021] Figure 3 This is a schematic diagram of the steering control mechanism in a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, according to this utility model.

[0022] Figure 4 The above-right perspective is a three-dimensional view of a pipeline inspection robot of this utility model that actively turns and jumps to avoid obstacles by relying on the thrust of the medium.

[0023] Figure 5 This is a schematic diagram of the push-pull electromagnet in a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, according to this utility model.

[0024] Figure 6 This is a front view of the push-pull electromagnet in a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, according to this utility model.

[0025] The markings in the diagram are as follows: 1-Umbrella structure; 11-Pressure plate; 12-Lead screw; 13-Connecting rod; 14-Short rod of umbrella support; 15-Umbrella support rod; 16-Lead screw drive motor; 17-Steering frame; 18-Umbrella structure motor mounting base; 19-Intermediate slider; 20-Pull rod; 2-Steering control mechanism; 21-First bevel gear set; 22-First servo motor; 23-Steering spindle; 24-Second servo motor; 25-Second bevel gear set; 26-Fork-shaped connector; 27-Thrust bearing; 3-Robot body; 31-Drive wheel; 32-Wheel drive motor; 33-Detection camera; 4-Bouncing system; 41-Push-pull electromagnet; 42-Helical spring; 43-Copper coil; 44-Shell; 45-Push-pull rod. Detailed Implementation

[0026] The following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0027] Example

[0028] like Figure 1 As shown, this utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium. The robot body 3, umbrella-shaped structure 1, steering control mechanism 2, and jumping system 4 are all mounted on the robot body 3. The steering control mechanism 2 is connected to the umbrella-shaped structure 1 via a steering frame 17 and is used to control the rotation of the umbrella-shaped structure 1.

[0029] like Figure 2 As shown, the umbrella-shaped structure 1 includes a lead screw drive motor 16, which is mounted on an umbrella structure motor mounting base 18. The umbrella structure motor mounting base 18 is fixedly connected to the steering frame 17. The lead screw drive motor 16 is arranged parallel to the lead screw 12 and is driven by a set of pulleys. The two pulleys are located on the same side of the umbrella structure motor mounting base 18, with one pulley connected to the output shaft of the lead screw drive motor 16 and the other fixedly connected to one end of the lead screw 12.

[0030] The lead screw 12 has optical shafts at both ends, and pressure plates 11 are installed through the two optical shafts. Several pull rods are fixedly connected to the pressure plates 11. The two ends of the pull rods are threaded and fixedly connected to the pressure plates 11 through the threads. An intermediate slider 20 is fitted in the middle of the pull rod, and the intermediate slider 20 is threaded through the lead screw 12. When the lead screw 12 rotates, it can drive the intermediate slider 20 to move. Several connecting rods 13 are installed around the periphery of the intermediate slider 20 and the pressure plate 11 near the steering frame 17 and the steering control mechanism 2. A short umbrella support rod 14 is fitted on the connecting rod 13 of the intermediate slider 20, and an umbrella support rod 15 is fitted on the connecting rod 13 of the pressure plate 11. Both the short umbrella support rod 14 and the umbrella support rod 15 can rotate around the connecting rod 13 they are connected to, and the short umbrella support rod 14 and the umbrella support rod 15 are hinged. In this embodiment, there are three pull rods, three short umbrella support rods 14, and three umbrella support rods 15. An outer umbrella sheath is installed between several umbrella support poles 15. The outer umbrella sheath is installed around the three umbrella support poles 15 and is fixedly installed with the three support poles. Because it is a flexible structure, it is not shown in the figure.

[0031] The working principle of the umbrella structure 1 is as follows: When the lead screw drive motor 16 is running, it drives the lead screw 12 to rotate left and right through the belt. When the lead screw 12 rotates clockwise, it drives the middle slider 20 to move towards the near end of the lead screw drive motor 16. The middle slider 20 drives the umbrella support rod 15 to expand outward through the umbrella support short rod 14. At this time, the umbrella is fully opened, the pressure of the medium in the pipe increases, thereby pushing the robot forward; otherwise, the umbrella is in a contracted state.

[0032] like Figure 3 As shown, the umbrella-shaped structure 1 is fixedly connected to the steering control mechanism 2. The steering control mechanism 2 includes a main steering base, which is fixedly mounted on the robot body 3. A first servo motor 22 is mounted on the main steering base, driving the first bevel gear set 21 to rotate. The output gear of the first bevel gear set 21 can rotate in a horizontal plane. The output gear is fixedly connected to the upper auxiliary steering base. A rotating shaft is provided at the bottom of the auxiliary steering base, and the rotating shaft is installed correspondingly to the shaft hole of the output gear. A thrust bearing 27 is provided between the output gear and the top of the main steering base.

[0033] A second servo motor 24 is mounted on the secondary steering base, which drives the second bevel gear set 25 to rotate. The output gear of the second bevel gear set 25 can rotate in a vertical plane. The output gear of the second bevel gear set 25 is mounted on the steering spindle 23, which can drive the steering spindle 23 to rotate together. The steering spindle 23 is movably mounted on the secondary steering base, and a fork-shaped connector 26 is fixedly connected to the steering spindle 23. The fork-shaped connector 26 is fixedly connected to the steering frame 17.

[0034] The working principle of the steering control mechanism 2 is as follows: the first servo motor 22, installed on the main steering base, can drive the auxiliary steering base to rotate in the horizontal plane via the first bevel gear set 21; the second servo motor 24, installed on the auxiliary steering base, can drive the steering frame 17 to rotate in the vertical plane via the second bevel gear set 25, thereby realizing the rotation function of the umbrella structure 1 in multiple directions. By changing the steering according to the umbrella structure 1, the robot body 3 can be driven to turn. When the robot climbs the vertical pipe, it can also provide upward lift through the umbrella structure 1, ultimately reducing the robot's energy consumption by effectively utilizing the power of the medium.

[0035] like Figure 4 As shown, the robot body 3 includes a support frame, on which the main steering base is mounted. A drive motor bracket is fixedly mounted below the support frame, and a wheel drive motor 32 is mounted on the drive motor bracket. Two pulleys are mounted on the output shaft of the wheel drive motor 32, and each of the two pulleys drives a set of drive wheels 31 to rotate via a belt.

[0036] The support frame contains an equipment compartment, and several detection cameras 33 are installed on the outside of the support frame as needed for detection. The detection cameras 33 are connected to the controller inside the robot body 3 via cables and send the data back to the remote controller.

[0037] The bouncing system 4 includes two push-pull electromagnets 41, which are mounted on the lower part of the support via electromagnet fixing brackets. Each push-pull electromagnet 41 includes a housing 44, within which a push-pull rod 45 is movably mounted. A copper coil 43 and a helical spring 42 are disposed outside the push-pull rod 45, with both ends of the helical spring 42 fixedly connected to the housing 44 and the push-pull rod 45, respectively. The copper coil 43 is connected to a battery built into the robot body 3 via a wire, and the battery is connected to a controller via a signal line. When the copper coil 43 is energized, the coil immediately generates a strong magnetic force, instantly pushing the push-pull rod 45 out. At this moment, the helical spring 42 is compressed. The moment the coil is de-energized, the magnetic force disappears, and the rod immediately retracts to its original position due to the elastic force of the helical spring 42.

[0038] When the detection camera 33 detects an obstacle that needs to be avoided, the remote controller sends a command to the controller to energize and de-energize the electromagnet. The electromagnet is immediately energized, and the umbrella-shaped structure 1 opens simultaneously. The energizing time is set to 1 second. The electromagnet's push rod quickly pops out and touches the tube wall, causing the robot to bounce up and use the propulsion of the medium to overcome the obstacle. If the robot fails to overcome the obstacle on the first energizing attempt, the obstacle avoidance action can be repeated.

[0039] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of the medium. During operation, it exhibits two modes of movement. When moving normally within the pipeline, the wheel drive motor 32 rotates the two sets of drive wheels 31, enabling the robot to move in a straight line. Simultaneously, the lead screw drive motor 16 rotates the lead screw 12 left and right. The central slider 20, through the umbrella support rod 14, drives the umbrella support rod 15 to expand outwards, fully opening the umbrella and increasing the pressure of the medium within the pipeline, thus propelling the robot forward. Conversely, the umbrella retracts. Two servo motors in the steering control mechanism 2 operate, rotating the umbrella-shaped structure 1 to change the robot's direction of travel. When an obstacle appears in the pipeline, the electromagnet is energized, and its push rod pops out to touch the pipe wall, causing the robot to bounce. Simultaneously, the robot can overcome the obstacle using the thrust of the medium.

[0040] This utility model discloses a pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium. In addition to its own power system, it also has an umbrella-shaped telescopic mechanism. It can utilize the power of the medium. When the umbrella mechanism is opened, the pressure of the medium in the pipeline propels the robot to move faster. By controlling the angle of the umbrella structure, it can actively turn, which can reduce energy consumption and operating costs. In addition, it also has a bouncing system that can actively jump to avoid obstacles, making it convenient to use.

[0041] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, characterized in that: The robot includes a robot body, on which a steering control mechanism and a bouncing system are installed. The steering control mechanism is connected to an umbrella-shaped structure via a steering frame. The umbrella-shaped structure includes a lead screw drive motor, which drives the lead screw to rotate. An intermediate slider is installed on the lead screw, and a short umbrella support rod is movably connected to the intermediate slider. The short umbrella support rod is hinged to an umbrella support rod, and an outer umbrella sheath is installed on the umbrella support rod. The bouncing system includes two push-pull electromagnets located at the bottom of the robot body.

2. The pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium, as described in claim 1, is characterized in that: The lead screw drive motor is mounted on the umbrella structure motor mounting base, which is fixedly connected to the steering frame.

3. The pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium, as described in claim 1, is characterized in that: The lead screw drive motor and the lead screw are transmitted through a set of pulleys.

4. The pipeline inspection robot that actively turns and jumps to avoid obstacles by relying on the thrust of the medium, as described in claim 1, is characterized in that: The lead screw has optical axes at both ends, and pressure plates are installed through the two optical axes. Several pull rods are fixedly connected between the two pressure plates.

5. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, as described in claim 4, is characterized in that: The pull rod passes through the middle slider, and the middle slider is connected to the lead screw by a thread.

6. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, as described in claim 4 or 5, characterized in that: The outer periphery of the intermediate slider and the pressure plate near the steering frame is equipped with several connecting rods. The connecting rod of the intermediate slider is fitted with a short umbrella bracket rod, and the connecting rod of the pressure plate is fitted with an umbrella bracket rod.

7. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, as described in claim 1, is characterized in that: The steering control mechanism includes a main steering base, on which a first servo motor is mounted. The first servo motor drives a first bevel gear set to rotate, and the output gear of the first bevel gear set rotates in a horizontal plane and is fixedly connected to the upper auxiliary steering base. A second servo motor is mounted on the auxiliary steering base, and the second servo motor drives a second bevel gear set to rotate. The output gear of the second bevel gear set rotates in a vertical plane and is fixedly connected to the steering spindle. A fork-shaped connector is mounted on the steering spindle and is fixedly connected to the steering frame.

8. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, as described in claim 7, is characterized in that: The bottom of the auxiliary steering base is provided with a rotating shaft, which is installed in accordance with the shaft hole above the output gear of the first bevel gear set.

9. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, as described in claim 7, is characterized in that: A thrust bearing is provided between the output gear of the first bevel gear set and the top of the main steering base.

10. A pipeline inspection robot that actively turns and jumps to avoid obstacles using the thrust of a medium, as described in claim 1, is characterized in that: The robot body includes a frame, on which a wheel drive motor is mounted, which drives the drive wheels to rotate.

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