Pipeline robot capable of achieving self-locking positioning

Abstract

The utility model belongs to the technical field of pipeline robots, and particularly relates to a self-locking positioning pipeline robot which comprises a pipeline robot body, a fixing ring is arranged on the outer side of the pipeline robot body, a rotating ring is connected to the outer wall of an installation plate in a sliding mode, a connecting ring is installed on the rotating ring, a limiting ring is installed on the connecting ring, and the limiting ring is provided with a limiting groove. A sliding sleeve is mounted on the mounting plate, a driving telescopic rod is mounted at the driving end of the sliding sleeve, a fixing frame is mounted at one end of the driving telescopic rod, and a roller is rotationally connected to the fixing frame; a connecting block, a mounting plate, a rotating ring, a connecting ring and a limiting ring form an assembly capable of supporting a sliding sleeve, a driving telescopic rod, a fixing frame and a rolling wheel, so that the rolling wheel can be supported on the inner wall of a pipeline, and meanwhile, the angle of the rolling wheel can be adjusted through the sliding sleeve, so that the rolling wheel is relatively perpendicular to the inner wall of the pipeline; and when the pipeline robot body needs to be locked, the rolling wheels and the pipeline can be prevented from sliding, and therefore the stability of the pipeline robot body is improved.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline robot technology, specifically relating to a self-locking pipeline robot. Background Technology

[0002] In the field of pipeline inspection and maintenance, pipeline robots play a crucial role. When working in vertical pipelines, existing pipeline robots rely on rollers to contact the inner wall of the pipeline for movement. However, in vertical pipelines, the friction between the rollers and the pipeline wall alone is insufficient to ensure the stability of the robot's position, which can easily lead to slippage and inaccurate positioning. This seriously affects the accuracy and safety of pipeline inner wall inspection. Therefore, developing a pipeline robot that can solve the above problems and has self-locking positioning function, good pipe diameter adaptability, and effective protection mechanism is of great practical significance. Utility Model Content

[0003] This invention provides a self-locking pipeline robot, which solves the problem of slippage that easily occurs when the pipeline robot is locked in position inside a vertical pipeline.

[0004] This utility model provides the following technical solution: It includes a pipeline robot body, a fixed ring on the outer side of the pipeline robot body, an adjusting rod mounted on the pipeline robot body, one end of the adjusting rod passing through the fixed ring, a positioning plate mounted on one end of the adjusting rod, a connecting block mounted on the outer side of the pipeline robot body, a mounting plate hinged to the connecting block, a rotating ring slidably connected to the outer wall of the mounting plate, a connecting ring mounted on the rotating ring, a limit ring mounted on the connecting ring, a sliding sleeve mounted on the mounting plate, a driving telescopic rod mounted on the driving end of the sliding sleeve, a fixed frame mounted on one end of the driving telescopic rod, and a roller rotatably connected to the fixed frame.

[0005] The pipeline robot body and the fixed ring are connected by a fixed rod, and one of the adjusting rods is located inside the fixed rod.

[0006] The rotating ring and the connecting ring are connected by a number of connecting rods, and the connecting ring and the limiting ring are connected by a number of connecting rods.

[0007] The outer wall of the pipeline robot body is slidably connected to a sliding sleeve, and the sliding sleeve is connected to the drive telescopic rod through a hinge rod. One end of the hinge rod is hinged to the sliding sleeve, and the other end of the hinge rod is hinged to the outer wall of the drive telescopic rod.

[0008] The pipeline robot body has an installation groove on its outer wall, an electric push rod is installed on the inner wall of the installation groove, and a slider that matches the installation groove is installed on the inner wall of the sliding sleeve. One end of the installation groove is connected to one side of the slider.

[0009] The drive telescopic rod is slidably connected to a reinforcing rod, and one end of the reinforcing rod is connected to one end of the fixed frame.

[0010] The beneficial effects of this utility model are as follows: the components consisting of the junction block, mounting plate, rotating ring, connecting ring, and limiting ring can support the sliding sleeve, drive telescopic rod, fixing frame, and roller. This ensures that the roller is supported on the inner wall of the pipe, while the angle of the roller can be adjusted through the sliding sleeve to make the roller perpendicular to the inner wall of the pipe. This prevents the roller from sliding on the pipe when the pipe robot body needs to be locked in position, thereby increasing the stability of the pipe robot body.

[0011] The parts of the device not covered herein are the same as or can be implemented using existing technologies. Attached Figure Description

[0012] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0013] Figure 2 This is a schematic diagram of the motion of the rotating ring in this utility model;

[0014] Figure 3 This is a three-dimensional structural diagram of the sliding sleeve in this utility model;

[0015] Figure 4 This is a cross-sectional structural diagram of the fixing ring in this utility model.

[0016] In the diagram: 1. Pipeline robot body; 11. Fixed rod; 12. Fixed ring; 2. Adjusting rod; 21. Positioning plate; 3. Interchange block; 31. Mounting plate; 32. Rotating ring; 33. Connecting ring; 331. Connecting rod; 34. Limiting ring; 4. Sliding sleeve; 41. Hinge rod; 42. Drive telescopic rod; 421. Reinforcing rod; 43. Fixed frame; 44. Roller; 45. Slider; 46. Mounting groove; 47. Electric actuator. Detailed Implementation

[0017] Please see Figures 1-4The present invention provides the following technical solution: it includes a pipeline robot body 1, a fixing ring 12 on the outside of the pipeline robot body 1, an adjusting rod 2 installed on the pipeline robot body 1, one end of the adjusting rod 2 passing through the fixing ring 12, a positioning plate 21 installed on one end of the adjusting rod 2, a connecting block 3 installed on the outside of the pipeline robot body 1, an mounting plate 31 hinged to the connecting block 3, a rotating ring 32 slidably connected to the outer wall of the mounting plate 31, a connecting ring 33 installed on the rotating ring 32, a limit ring 34 installed on the connecting ring 33, a sliding sleeve 4 installed on the mounting plate 31, a driving telescopic rod 42 installed at the driving end of the sliding sleeve 4, a fixing frame 43 installed at one end of the driving telescopic rod 42, and a roller 44 rotatably connected to the fixing frame 43.

[0018] In this implementation scheme: the pipeline robot body 1 serves as the carrier of the supporting device. Three equidistantly distributed junction blocks 3 installed on the outer wall of the pipeline robot body 1 can mount the mounting plate 31, allowing the mounting plate 31 to support the sliding sleeve 4. At this time, the drive telescopic rod 42 installed at the drive end of the sliding sleeve 4 can be supported on the sliding sleeve 4. Under the hinge between the mounting plate 31 and the junction blocks 3, the distance between the rod and the pipeline robot body 1 can be adjusted. The fixing frame 43 installed at one end of the drive telescopic rod 42 allows the roller 44 to be supported on the inner wall of the pipeline, enabling the roller 44 to be powered by an electric motor. Driven to rotate, it supports itself against the inner wall of the pipe, supporting the pipe robot body 1 while allowing it to move within the pipe wall. A camera mounted on the pipe robot body 1 detects the inner wall of the pipe. Simultaneously, a mounting plate 31 is hinged to the outer wall of the pipe robot body 1, allowing for appropriate adjustment of the distance between the rollers 44 and the pipe robot body 1. This enables video recording of pipe inner walls of various sizes, allowing the pipe robot body 1 to support and move within the pipe. When moving vertically within the pipe, the pipe robot body 1... When the vertical displacement within the pipe requires positioning and locking, the drive end of the sliding sleeve 4 rotates, causing the drive telescopic rod 42, the fixed frame 43, and the roller 44 to rotate synchronously. When the device is displaced within the vertical pipe, the roller 44 is flush with the inner wall of the pipe. Driven by the sliding sleeve 4, the roller 44 rotates 90 degrees, making it perpendicular to the pipe wall. This increases the friction between the roller 44 and the inner wall of the pipe, allowing the pipe robot body 1 to adjust its angle in coordination with the drive telescopic rod 42, ensuring the roller 44 is supported by the pipe. The inner wall of the pipeline robot 1 is locked and secured to the inner wall of the pipeline, preventing the roller 44 from sliding when it rolls on the inner wall of the pipeline for positioning, which would affect the positioning of the pipeline robot 1. The adjusting rod 2 installed on the pipeline robot 1 is located on the outer side of the pipeline robot 1. The length of the adjusting rod 2 can be adjusted so that the position of the positioning plate 21 can be adjusted to match the inner wall of the pipeline. The adjusting rod 2 and the positioning plate 21 can be connected with the fixing ring 12 to protect the pipeline robot 1 and prevent the pipeline robot 1 from directly colliding with the pipeline wall when it moves.

[0019] The pipeline robot body 1 and the fixed ring 12 are connected by a fixed rod 11, and one of the adjusting rods 2 is located inside the fixed rod 11. The fixed ring 12 is supported by the fixed rod 11 so that it can be stably supported on the outside of the pipeline robot body 1. The adjusting rod 2 is installed inside the fixed rod 11 to avoid limiting the position, so that the position of the positioning plate 21 can be adjusted appropriately to support and protect the outside of the pipeline robot body 1.

[0020] The rotating ring 32 and the connecting ring 33 are connected by several connecting rods 331, and the connecting ring 33 and the limiting ring 34 are connected by several connecting rods 331. The rotating ring 32 and the connecting ring 33 are connected by connecting rods 331, so that the rotating ring 32, the connecting ring 33 and the limiting ring 34 are connected as one unit, so that they can support and limit the outer wall of the drive telescopic rod 42, so that the drive telescopic rod 42 can be supported in the connecting ring 33 and the limiting ring 34, so that the drive telescopic rod 42 can be stably connected to the drive end of the sliding sleeve 4.

[0021] A sliding sleeve 4 is slidably connected to the outer wall of the pipeline robot body 1. The sliding sleeve 4 is connected to the drive telescopic rod 42 via a hinge rod 41. One end of the hinge rod 41 is hinged to the sliding sleeve 4, and the other end of the hinge rod 41 is hinged to the outer wall of the drive telescopic rod 42. When the sliding sleeve 4 is slidably connected to the outer wall of the pipeline robot body 1 and its position is adjusted by sliding on the outer wall of the pipeline robot body 1, it can push the angle adjustment of the drive telescopic rod 42 through the connection of the hinge rod 41. This allows the position of the roller 44 to be adjusted by the angle of the drive telescopic rod 42, which in turn pushes the fixed frame 43 to support it on the inner wall of the pipeline.

[0022] The outer wall of the pipeline robot body 1 has an installation groove 46, and an electric push rod 47 is installed on the inner wall of the installation groove 46. A slider 45 matching the installation groove 46 is installed on the inner wall of the sliding sleeve 4. One end of the installation groove 46 is connected to one side of the slider 45. The installation groove 46 on the outer wall of the pipeline robot body 1 can install the electric push rod 47, so that the electric push rod 47 can connect and push the slider 45 installed on the inner wall of the sliding sleeve 4, so that the sliding sleeve 4 can slide and move on the pipeline robot body 1, thereby controlling the angle of the drive telescopic rod 42.

[0023] A reinforcing rod 421 is slidably connected to the drive telescopic rod 42, with one end of the reinforcing rod 421 connected to one end of the fixed frame 43. The reinforcing rod 421 slidably connected to the drive telescopic rod 42 can limit the position of the fixed frame 43, so that the drive telescopic rod 42 can push the fixed frame 43. When adjusting the position of the roller 44, the roller 44 can be kept in positional correspondence with the drive telescopic rod 42, and the sliding sleeve 4 can adjust the roller 44.

[0024] The working principle and usage process of this utility model are as follows: During use, the sliding sleeve 4 drives the telescopic rod 42 to rotate, so that the fixed frame 43 and the roller 44 rotate to be parallel to the inner wall of the pipe. The roller 44 is driven by an electric motor to start rotating, supporting the inner wall of the pipe and pushing the pipe robot body 1 into the pipe. During the process, the length of the adjusting rod 2 can be adjusted as needed to keep the positioning plate 21 at a suitable distance from the inner wall of the pipe. The fixing ring 12 is connected by the fixing rod 11 to protect the pipe robot body 1 from colliding with the pipe wall. When the pipe robot body 1 moves in the pipe, the imaging device on the pipe robot body 1 continuously detects the inner wall of the pipe. When encountering changes in pipe diameter, because the mounting plate 31 is hinged to the junction block 3, the mounting plate 31 is slidably connected to the rotating ring 32, and the sliding sleeve 4 can slide on the outer wall of the pipe robot body 1 and is connected to the drive telescopic rod 42 through the hinge rod 41. The distance between the roller 44 and the pipe robot body 1 can be flexibly adjusted to adapt to different pipe diameters and ensure smooth inspection. When the pipe robot body 1 needs to be positioned in a vertical pipe, the drive end of the sliding sleeve 4 rotates again, driving the drive telescopic rod 42, the fixed frame 43, and the roller 44 to rotate 90 degrees synchronously, making the roller 44 perpendicular to the pipe wall, greatly increasing the friction. Combined with the angle adjustment of the drive telescopic rod 42, the pipe robot body 1 is firmly locked on the inner wall of the pipe, ensuring accurate positioning and facilitating inspection.

Claims

1. A self-locking pipeline robot, comprising a pipeline robot body (1), characterized in that: The pipeline robot body (1) has a fixed ring (12) on its outer side. An adjusting rod (2) is installed on the pipeline robot body (1). One end of the adjusting rod (2) passes through the fixed ring (12). A positioning plate (21) is installed on one end of the adjusting rod (2). A junction block (3) is installed on the outer side of the pipeline robot body (1). An installation plate (31) is hinged on the junction block (3). A rotating ring (32) is slidably connected to the outer wall of the installation plate (31). A connecting ring (33) is installed on the rotating ring (32). A limit ring (34) is installed on the connecting ring (33). A sliding sleeve (4) is installed on the installation plate (31). A drive telescopic rod (42) is installed on the drive end of the sliding sleeve (4). A fixed frame (43) is installed on one end of the drive telescopic rod (42). A roller (44) is rotatably connected to the fixed frame (43).

2. The self-locking pipeline robot according to claim 1, characterized in that: The pipeline robot body (1) and the fixed ring (12) are connected by a fixed rod (11), and one of the adjusting rods (2) is located inside the fixed rod (11).

3. The self-locking pipeline robot according to claim 1, characterized in that: The rotating ring (32) and the connecting ring (33) are connected by a plurality of connecting rods (331), and the connecting ring (33) and the limiting ring (34) are connected by a plurality of connecting rods (331).

4. The self-locking pipeline robot according to claim 1, characterized in that: The outer wall of the pipeline robot body (1) is slidably connected to a sliding sleeve (4). The sliding sleeve (4) is connected to the drive telescopic rod (42) through a hinge rod (41). One end of the hinge rod (41) is hinged to the sliding sleeve (4), and the other end of the hinge rod (41) is hinged to the outer wall of the drive telescopic rod (42).

5. A self-locking pipeline robot according to claim 1, characterized in that: The outer wall of the pipeline robot body (1) is provided with an installation groove (46), an electric push rod (47) is installed on the inner wall of the installation groove (46), and a slider (45) matching the installation groove (46) is installed on the inner wall of the sliding sleeve (4). One end of the installation groove (46) is connected to one side of the slider (45).

6. A self-locking pipeline robot according to claim 1, characterized in that: A reinforcing rod (421) is slidably connected to the drive telescopic rod (42), and one end of the reinforcing rod (421) is connected to one end of the fixing frame (43).

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