Snakelike pipeline robot

Abstract

The snakelike pipeline robot comprises a front guide joint, any group of driving joints and a rear guide joint, wherein the front guide joint is used for guiding the robot to advance in a pipeline, the front guide joint is arranged at the foremost part of any group of driving joints, and the driving joints are connected with the front guide joint through flexible connecting assemblies; the rear guide joint is used for guiding the robot to retreat in the pipeline, the rear guide joint is arranged at the tail of any group of driving joints, and the driving joints are connected with the rear guide joint through flexible connecting assemblies; any side of the front guide joint is fixedly connected with a tilt angle sensor; the inclined driving wheel and the axis of the pipeline form a fixed spiral angle, and the inclined driving wheel is decomposed into axial thrust (advancing) and circumferential anti-skid force during rotation. When the inner diameter of the pipeline changes, the pipe wall applies radial pressure to the driving wheel to push a spring telescopic rod in the disc type reducing mechanism to contract or expand to achieve the purpose of passively adapting to the pipe diameter.

Description

Technical Field

[0001] This utility model belongs to the field of pipeline inspection technology, specifically referring to a snake-shaped pipeline robot. Background Technology

[0002] Pipes with a diameter of 60-100mm (approximately 2 to 4 inches) are considered medium-diameter pipes and have a wide range of applications, primarily in water supply systems, fire protection systems, drainage / sewage systems, industrial gas transmission, and cable protection.

[0003] However, if the above-mentioned pipeline becomes blocked due to construction problems during installation, the pipeline will become ineffective. Furthermore, during pipeline construction, pipelines of different diameters are often installed together depending on their intended use. In this case, due to the change in pipe diameter, some traditional pipeline detection devices cannot be used on pipelines along the same path. Therefore, a pipeline detection device that can be applied to pipelines of different diameters is needed. Utility Model Content

[0004] In order to overcome the shortcomings of the prior art, this utility model provides a snake-shaped pipeline robot, which at least partially solves the above problems.

[0005] The technical solution adopted by this utility model is as follows: This utility model proposes a snake-shaped pipeline robot, including a front guide joint 1, an arbitrary set of drive joints 2 and a rear guide joint 3;

[0006] The front guide joint 1 is used to guide the robot to move forward in the pipe. The front guide joint 1 is located at the front of any group of drive joints 2. The drive joint 2 and the front guide joint 1 are connected by a flexible connection component 4.

[0007] Furthermore, the rear guide joint 3 is used to guide the robot to retreat in the pipe. The rear guide joint 3 is located at the very end of any group of drive joints 2. The drive joint 2 and the rear guide joint 3 are connected by a flexible connecting component 4.

[0008] Furthermore, an tilt sensor 5 is fixedly connected to either side of the front guide section 1.

[0009] Furthermore, both the front guide joint 1 and the rear guide joint 3 include a third mounting plate 101, a fourth mounting plate 102, a wheel connecting rod 104, and a wheel 105;

[0010] The third mounting plate 101 is triangular, and a set of rotating wheel connecting rods 104 are rotatably connected to each of the three ends of the third mounting plate 101. A set of rotating wheels 105 is rotatably connected to the end of each set of rotating wheel connecting rods 104. The fourth mounting plate 102 is located at the rear of the third mounting plate 101.

[0011] Furthermore, both the front guide joint 1 and the rear guide joint 3 further include a sliding block 106, a moving link 107, a mounting block 108, a connecting spring 109, and a screw 110;

[0012] The lower part of the third mounting plate 101 is provided with three sets of mounting blocks 108. Each set of mounting blocks 108 is movably connected to a set of screws 110 at its lower part. The tail of each set of screws 110 is movably connected to the fourth mounting plate 102. Each set of screws 110 is movably connected to a set of sliding blocks 106 in the middle. The rear part of the sliding blocks 106 is rotatably connected to a set of moving links 107, and the tail of the moving links 107 is movably connected to the rotating wheel link 104.

[0013] Each set of sliding blocks 106 has a set of connecting springs 109 on each side, and the front end of each set of connecting springs 109 is detachably connected to the mounting block 108.

[0014] Furthermore, both the front guide joint 1 and the rear guide joint 3 also include a second connection port 111, which is fixed to the rear of the fourth mounting plate 102 and has threads.

[0015] Furthermore, the front guide section 1 also includes a camera probe 103, which is located on the upper part of the third mounting plate 101 in the front guide section 1.

[0016] Furthermore, the rear guide joint 3 also includes a quick-change connector 301, which is located at the rear of the fourth mounting plate 102 in the rear guide joint 3.

[0017] Furthermore, the drive section 2 includes a first mounting plate 201, a second mounting plate 202, a connecting rod 203, a spring telescopic rod 204, and a tilting drive wheel 205;

[0018] The first mounting plate 201 is triangular. Three sets of connecting rods 203 are rotatably connected to the lower part of the first mounting plate 201, and each set of connecting rods 203 is close to each end point of the first mounting plate 201. Three sets of spring telescopic rods 204 are rotatably connected to the lower part of the first mounting plate 201, and the three sets of spring telescopic rods 204 are all located inside the connecting rods 203. The front end of each set of spring telescopic rods 204 is rotatably connected to a set of connecting rods 203. A set of tilting drive wheels 205 is rotatably connected to the tail end of each set of connecting rods 203. A second mounting plate 202 is provided at the bottom of the three sets of spring telescopic rods 204, and the two are movably connected.

[0019] Furthermore, the drive section 2 also includes a first connection port 206, a hollow drive motor 207, a mounting plate 208, and a connecting post 209;

[0020] The second mounting plate 202 has a set of hollow drive motors 207 at its rear, a set of mounting discs 208 at its rear, a set of connecting posts 209 at its rear, and the first connecting port 206 is located on the upper part of the first mounting plate 201.

[0021] Furthermore, the bottom surface of the tilting drive wheel 205 forms an angle with the pipe axis, the angle ranging from 10° to 15°.

[0022] The beneficial effects of this utility model by adopting the above structure are as follows:

[0023] (1) The drive section structure is shown in the figure. It consists of two hollow drive motors and two disc-type diameter changing mechanisms installed opposite to each other. The disc-type diameter changing mechanism is composed of a first mounting plate, a second mounting plate, a connecting rod, a spring telescopic rod and an inclined drive wheel. The hollow drive motor provides power output for the robot's movement, facilitates wiring (such as power / signal lines), and saves space.

[0024] (2) The inclined drive wheel has a fixed helix angle with the pipe axis. When rotating, it is decomposed into axial thrust (forward) and circumferential anti-slip force. When the inner diameter of the pipe changes, the pipe wall applies radial pressure to the drive wheel, which pushes the spring telescopic rod in the disc-type diameter changing mechanism to contract or expand to passively adapt to the pipe diameter. Attached Figure Description

[0025] Figure 1 A perspective view of a snake-shaped pipe robot proposed in an embodiment of this utility model;

[0026] Figure 2 A perspective view of the drive section proposed in an embodiment of this utility model;

[0027] Figure 3 This is a top view of the front guide joint proposed in an embodiment of the present invention;

[0028] Figure 4 This is a top view of the rear guide section proposed in an embodiment of the present utility model;

[0029] Figure 5 This is a schematic diagram of the installation of the tilt sensor proposed in an embodiment of this utility model.

[0030] Among them, 1. front guide joint, 2. drive joint, 3. rear guide joint, 4. flexible connection assembly, 5. tilt sensor;

[0031] 101. Third mounting plate; 102. Fourth mounting plate; 103. Camera probe; 104. Rotary wheel linkage; 105. Rotary wheel; 106. Sliding block; 107. Moving linkage; 108. Mounting block; 109. Connecting spring; 110. Screw; 111. Second connection port.

[0032] 201. First mounting plate; 202. Second mounting plate; 203. Connecting rod; 204. Spring telescopic rod; 205. Inclined drive wheel; 206. First connecting port; 207. Central control drive motor; 208. Mounting plate; 209. Connecting column.

[0033] 301. Quick-change connector.

[0034] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0036] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0037] like Figures 1 to 4 As shown, this utility model proposes a snake-shaped pipeline robot, including a front guide joint 1, an arbitrary set of drive joints 2, and a rear guide joint 3;

[0038] The front guide joint 1 is used to guide the robot to move forward in the pipe. The front guide joint 1 is located at the front of any group of drive joints 2. The drive joint 2 and the front guide joint 1 are connected by a flexible connection component 4.

[0039] Furthermore, the rear guide joint 3 is used to guide the robot to retreat in the pipe. The rear guide joint 3 is located at the very end of any group of drive joints 2. The drive joint 2 and the rear guide joint 3 are connected by a flexible connecting component 4.

[0040] Furthermore, an tilt sensor 5 is fixedly connected to either side of the front guide section 1.

[0041] Furthermore, both the front guide joint 1 and the rear guide joint 3 include a third mounting plate 101, a fourth mounting plate 102, a wheel connecting rod 104, and a wheel 105;

[0042] The third mounting plate 101 is triangular, and a set of rotating wheel connecting rods 104 are rotatably connected to each of the three ends of the third mounting plate 101. A set of rotating wheels 105 is rotatably connected to the end of each set of rotating wheel connecting rods 104. The fourth mounting plate 102 is located at the rear of the third mounting plate 101.

[0043] Furthermore, both the front guide joint 1 and the rear guide joint 3 further include a sliding block 106, a moving link 107, a mounting block 108, a connecting spring 109, and a screw 110;

[0044] The lower part of the third mounting plate 101 is provided with three sets of mounting blocks 108. Each set of mounting blocks 108 is movably connected to a set of screws 110 at its lower part. The tail of each set of screws 110 is movably connected to the fourth mounting plate 102. Each set of screws 110 is movably connected to a set of sliding blocks 106 in the middle. The rear part of the sliding blocks 106 is rotatably connected to a set of moving links 107, and the tail of the moving links 107 is movably connected to the rotating wheel link 104.

[0045] Each set of sliding blocks 106 has a set of connecting springs 109 on each side, and the front end of each set of connecting springs 109 is detachably connected to the mounting block 108.

[0046] Furthermore, both the front guide joint 1 and the rear guide joint 3 also include a second connection port 111, which is fixed to the rear of the fourth mounting plate 102 and has threads.

[0047] Furthermore, the front guide section 1 also includes a camera probe 103, which is located on the upper part of the third mounting plate 101 in the front guide section 1.

[0048] Furthermore, the rear guide joint 3 also includes a quick-change connector 301, which is located at the rear of the fourth mounting plate 102 in the rear guide joint 3.

[0049] Furthermore, the drive section 2 includes a first mounting plate 201, a second mounting plate 202, a connecting rod 203, a spring telescopic rod 204, and a tilting drive wheel 205;

[0050] The first mounting plate 201 is triangular. Three sets of connecting rods 203 are rotatably connected to the lower part of the first mounting plate 201, and each set of connecting rods 203 is close to each end point of the first mounting plate 201. Three sets of spring telescopic rods 204 are rotatably connected to the lower part of the first mounting plate 201, and the three sets of spring telescopic rods 204 are all located inside the connecting rods 203. The front end of each set of spring telescopic rods 204 is rotatably connected to a set of connecting rods 203. A set of tilting drive wheels 205 is rotatably connected to the tail end of each set of connecting rods 203. A second mounting plate 202 is provided at the bottom of the three sets of spring telescopic rods 204, and the two are movably connected.

[0051] Furthermore, the drive section 2 also includes a first connection port 206, a hollow drive motor 207, a mounting plate 208, and a connecting post 209;

[0052] The second mounting plate 202 has a set of hollow drive motors 207 at its rear, a set of mounting discs 208 at its rear, a set of connecting posts 209 at its rear, and the first connecting port 206 is located on the upper part of the first mounting plate 201.

[0053] Furthermore, the bottom surface of the tilting drive wheel 205 forms an angle with the pipe axis, the angle ranging from 10° to 15°.

[0054] In this embodiment, the pipeline robot shown in the figure adopts a modular design. All parts are machined from 6061 aluminum alloy and subjected to appropriate surface treatment. The main body consists of two drive sections 2, a front guide section 1, and a rear guide section 3. The drive sections 2 can passively change diameter while providing power to the robot; the front and rear guide sections are responsible for guiding the robot forward and backward within the pipeline.

[0055] The drive section structure is shown in the figure. It consists of two hollow drive motors 207 mounted opposite each other and two disc-type diameter changing mechanisms. The disc-type diameter changing mechanism is composed of a first mounting plate 201, a second mounting plate 202, a connecting rod 203, a spring telescopic rod 204, and an inclined drive wheel 205. The hollow drive motors 207 provide power output for the robot's movement, facilitate wiring (such as power / signal lines), and save space.

[0056] The inclined drive wheel 205 has a fixed helix angle with the pipe axis, and when it rotates, it decomposes into axial thrust (forward) and circumferential anti-slip force. When the inner diameter of the pipe changes, the pipe wall applies radial pressure to the drive wheel, which pushes the spring telescopic rod 204 in the disc-type diameter changing mechanism to contract or expand, thereby passively adapting to the pipe diameter.

[0057] The hollow drive motor 207 uses two types of motors from Jizhi Technology: HO4307 and HO5515, to adapt to the diameter range of 60-100mm. HO4307 is used for pipe diameters of 60-75mm, and HO5515 is used for pipe diameters of 75-100mm.

[0058] The structure of the front guide joint 1 is shown in the figure. The front guide joint 1 consists of a camera probe 103, an tilt sensor 5, and an umbrella-shaped diameter changing mechanism. The umbrella-shaped diameter changing mechanism consists of a third mounting plate 101, a wheel connecting rod 104, a sliding block 106, a moving connecting rod 107, a mounting block 108, a connecting spring 109, and a screw 110.

[0059] The camera probe 103 is a small-sized endoscope with a diameter of 6.2mm. It can be mechanically controlled to rotate 360 ​​degrees in all directions and bend more than 90 degrees on one side, offering flexible control and improved work efficiency. It also exhibits a lower failure rate compared to electric power steering. The front end features ultra-bright 6-LED lighting with an optimized lighting system design; some models can be equipped with high-brightness fiber optic lighting. The transmission distance reaches 30m. The tilt sensor 5 is mounted on the front guide joint to sense the robot's position and status, feeding back to the host computer to reflect the robot's pose.

[0060] Rear guide joint 3 structure as follows Figure 5 As shown, the overall structure is similar to the front guide section 1, and adopts an umbrella-shaped variable diameter mechanism. The difference is that there is a quick-change connector 301 at the tail end for quick cable replacement.

[0061] The hardware of the snake-like pipeline robot control system consists of a tilt sensor 5, a hollow drive motor 207, and a camera. The tilt sensor 5 primarily functions to detect unknown states of the robot and provide information for robot control. The camera probe 103 is used to observe the pipeline environment, and the motor serves as the drive. The robot control cable is a custom-made cable integrating the camera, motor control lines, and tilt sensor signal lines, with a transmission distance of 30m. The camera probe has an outer diameter of 6.2mm, meeting the needs of inspecting the inside of small pipelines, and can be controlled by the system or operating handle to complete the operation.

[0062] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0063] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

[0064] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A snake-shaped pipe robot, characterized in that: It includes a front guide joint (1), an arbitrary group of drive joints (2), and a rear guide joint (3); The front guide joint (1) is used to guide the robot to move forward in the pipe. The front guide joint (1) is located at the front of any group of drive joints (2). The drive joint (2) and the front guide joint (1) are connected by a flexible connection component (4). The rear guide joint (3) is used to guide the robot to retreat in the pipeline. The rear guide joint (3) is located at the very end of any group of drive joints (2). The drive joint (2) and the rear guide joint (3) are connected by a flexible connection component (4). An inclination sensor (5) is fixed to either side of the front guide section (1).

2. The snake-shaped pipeline robot according to claim 1, characterized in that: The front guide joint (1) and the rear guide joint (3) both include a third mounting plate (101), a fourth mounting plate (102), a wheel connecting rod (104), and a wheel (105); The third mounting plate (101) is triangular, and a set of rotating wheel connecting rods (104) are rotatably connected to each of the three ends of the third mounting plate (101). A set of rotating wheels (105) is rotatably connected to the end of each set of rotating wheel connecting rods (104). The fourth mounting plate (102) is located at the rear of the third mounting plate (101).

3. The snake-shaped pipeline robot according to claim 2, characterized in that: Both the front guide joint (1) and the rear guide joint (3) further include a sliding block (106), a moving link (107), a mounting block (108), a connecting spring (109), and a screw (110); The lower part of the third mounting plate (101) is provided with three sets of mounting blocks (108). Each set of mounting blocks (108) is movably connected to a set of screws (110). The tail of each set of screws (110) is movably connected to the fourth mounting plate (102). The middle part of each set of screws (110) is movably connected to a set of sliding blocks (106). The rear part of the sliding block (106) is rotatably connected to a set of moving links (107), and the tail of the moving links (107) is movably connected to the rotating wheel link (104).

4. The snake-shaped pipeline robot according to claim 3, characterized in that: Each set of sliding blocks (106) has a set of connecting springs (109) on each side, and the front end of each set of connecting springs (109) is detachably connected to the mounting block (108).

5. The snake-shaped pipeline robot according to claim 4, characterized in that: Both the front guide joint (1) and the rear guide joint (3) further include a second connection port (111), which is fixed to the rear of the fourth mounting plate (102) and has threads.

6. The snake-shaped pipeline robot according to claim 5, characterized in that: The front guide section (1) also includes a camera probe (103), which is located on the upper part of the third mounting plate (101) in the front guide section (1).

7. The snake-shaped pipeline robot according to claim 6, characterized in that: The rear guide joint (3) also includes a quick-change connector (301), which is located at the rear of the fourth mounting plate (102) in the rear guide joint (3).

8. The snake-shaped pipeline robot according to claim 7, characterized in that: The drive section (2) includes a first mounting plate (201), a second mounting plate (202), a connecting rod (203), a spring telescopic rod (204), and a tilting drive wheel (205); The first mounting plate (201) is triangular. Three sets of connecting rods (203) are rotatably connected to the lower part of the first mounting plate (201), and each set of connecting rods (203) is close to each end point of the first mounting plate (201). Three sets of spring telescopic rods (204) are rotatably connected to the lower part of the first mounting plate (201), and the three sets of spring telescopic rods (204) are all located inside the connecting rods (203). The front end of each set of spring telescopic rods (204) is rotatably connected to a set of connecting rods (203). The tail end of each set of connecting rods (203) is rotatably connected to a set of inclined drive wheels (205). The bottom of the three sets of spring telescopic rods (204) is provided with a second mounting plate (202), and the two are movably connected.

9. The snake-shaped pipeline robot according to claim 8, characterized in that: The drive section (2) further includes a first connection port (206), a hollow drive motor (207), a mounting plate (208), and a connecting post (209); wherein, a set of hollow drive motors (207) is provided at the rear of the second mounting plate (202), a set of mounting plates (208) is provided at the rear of the hollow drive motors (207), a set of connecting posts (209) is provided at the rear of the mounting plates (208), and the first connection port (206) is located at the upper part of the first mounting plate (201).

10. The snake-shaped pipe robot according to claim 9, characterized in that: The bottom surface of the tilting drive wheel (205) forms an angle with the pipe axis, the angle being between 10° and 15°.

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