Quick-change magnetic attraction device for pipeline robot

Abstract

This utility model discloses a quick-change magnetic suction device for pipeline robots, including an outer cylinder, a magnetic suction mechanism installed inside the outer cylinder, and a camera mechanism. The outer cylinder includes an open end and a mounting end for cooperating with the pipeline robot. The magnetic suction mechanism includes a magnetic suction element that extends beyond the open end of the outer cylinder and is used to attract ferromagnetic foreign objects. The camera mechanism is positioned on at least one side of the magnetic suction mechanism, corresponding to the open end of the outer cylinder, and the magnetic suction element is within the camera's field of view. This quick-change magnetic suction device for pipeline robots uses a magnetic mechanism as a gripping tool to attract ferromagnetic foreign objects and remove them from the pipeline, meeting the need for foreign object removal from pipelines. This magnetic suction device enables quick cooperation and replacement with pipeline robots, thereby improving the efficiency of pipeline maintenance.

Description

Technical Field

[0001] This utility model relates to the field of pipeline maintenance equipment technology, and in particular to a quick-change magnetic suction device for pipeline robots. Background Technology

[0002] In the field of nuclear power plant operation and maintenance, foreign object incidents frequently occur in pipelines due to reasons such as component detachment, aging, and human intervention. When a foreign object occurs, due to the limited length of existing endoscopes and the presence of bends, tees, and other accessories in the pipeline, there is a lack of effective equipment to inspect the internal condition of the pipeline and effectively locate the foreign object.

[0003] In light of the rapid development of domestic and international industrial technology and the leaps and bounds in related automation and intelligent industries, major companies are focusing on developing new types of pipeline inspection and foreign object grabbing robots to comprehensively improve safety, quality, schedule, and cost in the relevant operation and maintenance fields, taking into account the types and layouts of pipelines at nuclear power plants.

[0004] Foreign objects in pipes come in various shapes and sizes, including small, scattered objects, long, thin objects, objects with slender protrusions or complex, irregular structures, and even ferromagnetic objects (such as carbon steel bolts). To effectively handle these diverse types of foreign objects in pipes, pipe foreign object grasping robots require appropriate tools. Utility Model Content

[0005] The technical problem to be solved by this utility model is to provide a quick-change magnetic suction device for pipeline robots.

[0006] The technical solution adopted by this utility model to solve its technical problem is: to provide a quick-change magnetic suction device for a pipeline robot, including an outer cylinder, a magnetic suction mechanism and a camera mechanism installed in the outer cylinder; the outer cylinder includes an open end and an installation end for cooperating with the pipeline robot;

[0007] The magnetic attraction mechanism includes a magnetic attractor that extends beyond the open end of the outer cylinder and is used to attract foreign objects with ferromagnetism. The camera mechanism is positioned on at least one side of the magnetic attraction mechanism corresponding to the open end of the outer cylinder, and the magnetic attractor is placed within the camera's field of view.

[0008] In some embodiments, the magnetic attractor includes an electromagnet.

[0009] In some embodiments, the magnetic attraction mechanism further includes a mechanism support, and the magnetic attraction element is fixed to the front end face of the mechanism support facing the opening end of the outer cylinder; the camera is mounted on the mechanism support.

[0010] In some embodiments, the quick-change magnetic suction device for the pipeline robot further includes a lighting component, which is disposed at least on the front end face of the magnetic suction mechanism facing the opening end of the outer cylinder, to provide illumination for the camera mechanism.

[0011] In some embodiments, the quick-change magnetic suction device for the pipeline robot further includes a pitch drive mechanism connected between the magnetic suction mechanism and the outer cylinder, which drives the magnetic suction mechanism and the camera mechanism to perform pitch movements relative to the outer cylinder.

[0012] In some embodiments, the pitch drive mechanism includes a pitch motor and at least one set of linkage components, wherein the pitch motor is disposed on the magnetic attraction mechanism and fixed relative to the magnetic attraction mechanism;

[0013] The linkage assembly includes a rotary gear, a lead screw, and a lead screw nut. The rotary gear meshes with the output shaft of the pitch motor, and the rotary gear is connected to the lead screw and coaxial with the lead screw. The lead screw nut is fitted onto the lead screw and connected to the outer cylinder.

[0014] In some embodiments, the quick-change magnetic suction device for the pipeline robot further includes a fixed bracket that mates with the mounting end of the outer cylinder. The fixed bracket is provided with a quick-connect electrical contact plate. The wires of the magnetic suction mechanism and / or the camera mechanism pass through the mounting end of the outer cylinder and are electrically connected to the electrical contacts on the quick-connect electrical contact plate.

[0015] In some embodiments, the fixed bracket is provided with a flange, the flange protruding outward from the periphery of the mounting end of the outer cylinder, and the flange is provided with a plurality of guide rollers arranged at intervals.

[0016] In some embodiments, the quick-change magnetic suction device for the pipeline robot further includes a drive mechanism for driving the outer cylinder to rotate relative to the fixed support.

[0017] In some embodiments, the driving mechanism includes a drive motor disposed inside the outer cylinder and fixedly connected to the fixed bracket, and an internal gear ring disposed on the inner peripheral wall of the outer cylinder;

[0018] The output shaft of the drive motor is equipped with a motor gear, which meshes with the internal gear ring; the drive motor drives the outer cylinder to rotate circumferentially relative to the fixed bracket through the internal gear ring.

[0019] The beneficial effects of this utility model are as follows: by using a magnetic mechanism as a gripping tool, it can attract ferromagnetic foreign objects and remove them from the pipeline, thus meeting the need for foreign object removal in the pipeline; the magnetic suction device can be quickly coordinated and replaced with pipeline robots, thereby improving the work efficiency of pipeline maintenance. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0021] Figure 1 This is a schematic diagram of the structure of a quick-change magnetic suction device for a pipeline robot according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 Front view of the quick-change magnetic chuck device shown;

[0023] Figure 3 yes Figure 1 A schematic diagram of the internal structure of the quick-change rope device is shown.

[0024] Figure 4 This is a schematic diagram of the structure of a quick-change magnetic suction device for a pipeline robot according to another embodiment of the present invention;

[0025] Figure 5 yes Figure 4 The diagram shows a partial structural cross-sectional view of the quick-change rope device. Detailed Implementation

[0026] To provide a clearer understanding of the technical features, objectives, and effects of this utility model, the specific embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0027] The pipeline robot of this invention uses a quick-change magnetic suction device, which is mounted on the pipeline robot as a magnetic suction tool head to assist the pipeline robot in performing tasks such as pipeline inspection and foreign object suction.

[0028] like Figures 1-3 As shown, a quick-change magnetic suction device for a pipeline robot according to an embodiment of the present invention includes an outer cylinder 10, a magnetic suction mechanism 20 installed inside the outer cylinder 10, and a camera mechanism 30.

[0029] The outer cylinder 10 serves as the outer shell of the entire rope-tying device, possessing a certain structural strength. It provides protection and is also used to cooperate with the pipeline robot for installation on the pipeline robot. The outer cylinder 10 includes two opposing ends: one end is an open end 101, and the other end forms an installation end 102 for cooperation with the pipeline robot.

[0030] The mounting end 102 of the outer cylinder 10 is designed with an annular step or an annular buckle to mate with the docking end of the pipeline robot, facilitating easy assembly and disassembly. The wires of the magnetic suction mechanism 20 and / or the camera mechanism 30 can pass through the wire passage provided on the end face of the mounting end 102 to connect to an external power supply or control device. When installing the pipeline robot onto the pipeline robot using the quick-change magnetic suction device, simply align the mounting end 102 of the outer cylinder 10 with the docking end of the pipeline robot. The wires can extend outwards along the pipeline robot's connection lines or be plugged into the pipeline robot's control board, connected externally via the pipeline robot's bus.

[0031] The magnetic attraction mechanism 20 is located inside the outer cylinder 10 near the opening end 101, which facilitates the attraction of foreign objects outside the opening end 101. The camera mechanism 30 is mounted on the magnetic attraction mechanism 20 and can be fixed relative to the magnetic attraction mechanism 20, so that the attraction range of the magnetic attraction mechanism 20 is included in the field of view of the camera mechanism 30, which plays a visual guiding role in the inspection and attraction of foreign objects at the front end of the outer cylinder 10.

[0032] The magnetic attraction mechanism 20 includes a magnetic attractor 21, which extends beyond the opening 101 of the outer cylinder 10 and is capable of attracting ferromagnetic foreign objects (such as carbon steel bolts) inside the pipe. Optionally, the magnetic attractor 21 can be a magnet or an electromagnet, or a combination of both. When used for attracting foreign objects inside metal pipes, the magnetic attractor 21 is preferably an electromagnet. When the foreign object is near, the electromagnet is energized to generate a magnetic field, attracting the foreign object and facilitating its removal from the pipe; when the electromagnet is de-energized, it is demagnetized, allowing the attracted foreign object to detach.

[0033] The magnetic attachment 21 can attract foreign objects of any shape. Any foreign object with ferromagnetic material can be attracted and carried out of the pipe by magnetic means, solving the problem that other grasping tools such as ropes and grippers are not easy to grasp.

[0034] The magnetic attraction mechanism 20 also includes a mechanism support 22, which serves as a support structure. The magnetic attraction element 21 is fixed to the mechanism support 22, preferably on the front end face of the mechanism support 22 facing the opening end 101 of the outer cylinder 10. The shape of the magnetic attraction element 21 can be, but is not limited to, a column. The end face of the magnetic attraction element 21 away from the mechanism support 22 serves as the main adsorption surface, and foreign objects inside the pipe are adsorbed onto this main adsorption surface.

[0035] The mechanism bracket 22 can be fixed inside the outer cylinder 10 by pins, so that the entire magnetic attraction mechanism 20 and the camera mechanism 30 thereon are positioned inside the outer cylinder 10. The mechanism bracket 22 can also rotate relative to the outer cylinder 10 by positioning pins, so that the magnetic attraction mechanism 20 and the camera mechanism 30 can rotate inside the outer cylinder 10, thereby expanding the range of foreign object attraction and the shooting range of the camera.

[0036] The camera mechanism 30 includes at least one camera, which is disposed on at least one side of the mechanism support 22. The camera's shooting direction is towards the outside of the opening end 101 of the outer cylinder 10, and the magnetic suction member 21 is placed in the field of view of the camera mechanism 30, preferably in the center of the field of view, so as to facilitate real-time observation of the foreign object situation during the inspection and adsorption of foreign objects.

[0037] To meet the light source requirements of the camera mechanism 30, the quick-change magnetic suction device for the pipeline robot also includes an illumination component 40, which is at least disposed on the front end face of the magnetic suction mechanism 20 to provide illumination for the camera mechanism 30.

[0038] The lighting component 40 includes, but is not limited to, LED lights, which may be installed on the front face of the mechanism bracket 22 (facing the outside of the opening end of the outer cylinder 10), or on the front face of the camera mechanism 30 and at least on one side of the camera, or both of the above positions.

[0039] like Figure 4 , Figure 5 As shown, another embodiment of the present invention provides a quick-change magnetic suction device for a pipeline robot, which includes an outer cylinder 10, a magnetic suction mechanism 20 installed inside the outer cylinder 10, a camera mechanism 30, and a pitch drive mechanism 50.

[0040] The outer cylinder 10 serves as the outer shell of the entire rope-tying device, possessing a certain structural strength. It provides protection and is also used to cooperate with the pipeline robot for installation on the pipeline robot. The outer cylinder 10 includes two opposing ends: one end is an open end 101, and the other end forms an installation end 102 for cooperation with the pipeline robot.

[0041] The mounting end 102 of the outer cylinder 10 is designed with an annular step or an annular buckle to mate with the docking end of the pipeline robot, facilitating easy assembly and disassembly. The wires of the magnetic suction mechanism 20 and / or the camera mechanism 30 can pass through the wire passage provided on the end face of the mounting end 102 to connect to an external power supply or control device. When installing the pipeline robot onto the pipeline robot using the quick-change magnetic suction device, simply align the mounting end 102 of the outer cylinder 10 with the docking end of the pipeline robot. The wires can extend outwards along the pipeline robot's connection lines or be plugged into the pipeline robot's control board, connected externally via the pipeline robot's bus.

[0042] The magnetic suction mechanism 20 is located inside the outer cylinder 10 near the opening end 101, facilitating the adsorption of foreign objects outside the opening end 101. The camera mechanism 30 is mounted on the magnetic suction mechanism 20 and can be fixed relative to it, ensuring that the adsorption range of the magnetic suction mechanism 20 is included within the field of view of the camera mechanism 30. This provides visual guidance for the inspection and adsorption of foreign objects at the front end of the outer cylinder 10. The pitch drive mechanism 50 is connected between the magnetic suction mechanism 20, the camera mechanism 30, and the outer cylinder 10, driving the magnetic suction mechanism 20 and the camera mechanism 30 to pitch relative to the outer cylinder 10, enabling radial movement within the pipe for multi-directional inspection and foreign object adsorption.

[0043] The magnetic attraction mechanism 20 includes a magnetic attractor 21, which extends beyond the opening 101 of the outer cylinder 10 and is capable of attracting ferromagnetic foreign objects (such as carbon steel bolts) inside the pipe. Optionally, the magnetic attractor 21 can be a magnet or an electromagnet, or a combination of both. When used for attracting foreign objects inside metal pipes, the magnetic attractor 21 is preferably an electromagnet. When the foreign object is near, the electromagnet is energized to generate a magnetic field, attracting the foreign object and facilitating its removal from the pipe; when the electromagnet is de-energized, it is demagnetized, allowing the attracted foreign object to detach.

[0044] The magnetic attachment 21 can attract foreign objects of any shape. Any foreign object with ferromagnetic material can be attracted and carried out of the pipe by magnetic means, solving the problem that other grasping tools such as ropes and grippers are not easy to grasp.

[0045] The magnetic attraction mechanism 20 also includes a mechanism support 22, which serves as a support structure. The magnetic attraction element 21 is fixed to the mechanism support 22, preferably on the front end face of the mechanism support 22 facing the opening end 101 of the outer cylinder 10. The shape of the magnetic attraction element 21 can be, but is not limited to, a column. The end face of the magnetic attraction element 21 away from the mechanism support 22 serves as the main adsorption surface, and foreign objects inside the pipe are adsorbed onto this main adsorption surface.

[0046] The mechanism bracket 22 can be positioned inside the outer cylinder 10 by means of pins, so that the entire magnetic attraction mechanism 20 and the camera mechanism 30 thereon are positioned inside the outer cylinder 10. The mechanism bracket 22 can also rotate relative to the outer cylinder 10 by means of positioning pins, so that the magnetic attraction mechanism 20 and the camera mechanism 30 can rotate inside the outer cylinder 10, thereby expanding the range of foreign object attraction and the shooting range of the camera.

[0047] The camera mechanism 30 includes at least one camera, which is disposed on at least one side of the mechanism support 22. The camera's shooting direction is towards the outside of the opening end 101 of the outer cylinder 10, and the magnetic suction member 21 is placed in the field of view of the camera mechanism 30, preferably in the center of the field of view, so as to facilitate real-time observation of the foreign object situation during the inspection and adsorption of foreign objects.

[0048] To meet the light source requirements of the camera mechanism 30, the quick-change magnetic suction device for the pipeline robot also includes a lighting component 40. The lighting component 40 is at least disposed on the front end face of the magnetic suction mechanism 20 to provide illumination for the camera mechanism 30. The lighting component 40 includes, but is not limited to, LED lights, and may be disposed on the front end face of the mechanism support 22 (facing outward from the opening end of the outer cylinder 10), or disposed on the front end face of the camera mechanism 30 and at least on one side of the camera, or disposed in both of the above positions.

[0049] refer to Figure 5 The pitch drive mechanism 50 includes a pitch motor 51 and at least one set of linkage components, which can be disposed on at least one side of the pitch motor 51. The pitch motor 51 is mounted on the mechanism support 22 of the magnetic attraction mechanism 20 and is fixed relative to the mechanism support 22. The linkage components include a rotating gear 52, a lead screw 53, and a lead screw nut 54. The rotating gear 52 meshes with the output shaft of the pitch motor 51 and is connected to and coaxial with the lead screw 53. The lead screw nut 54 is fitted onto the lead screw 53 and can be connected to the outer cylinder 10 via a hinge.

[0050] When the pitch motor 51 starts, its output shaft rotates, driving the meshing rotary gear 52 to rotate. The rotary gear 52 drives the lead screw 53 to rotate, and the rotation of the lead screw 53 causes the lead screw nut 54 on it to move axially along the lead screw 53. Since the lead screw nut 54 is connected to the outer cylinder 10, the axial movement of the lead screw nut 54 on the lead screw 53 actually drives the lead screw 53 to move axially relative to the lead screw nut 54. As a result, the push-pull mechanism bracket 22 moves closer to or further away from the lead screw nut 54, thereby causing the magnetic attraction mechanism 20 and the camera mechanism 30 on it to rotate relative to the outer cylinder 10 in the pitch direction.

[0051] Specifically, the magnetic attraction mechanism 20 has a connecting bracket 25 on the top surface of its support bracket 22, and the camera mechanism 30 is fixed to the side of the connecting bracket 25 facing the opening end 101 of the outer cylinder 10. The pitch motor 51 is positioned on the side of the connecting bracket 25 facing away from the opening end 101 of the outer cylinder 10 with its output shaft facing the opening end 101 of the outer cylinder 10. The rotating gear 52 is located inside the connecting bracket 25 and meshes with the pinion on the output shaft of the pitch motor 51. The lead screw 53 is parallel to the output shaft of the pitch motor 51 and is located on one side of the pitch motor 51. The lead screw nut 54 is sleeved on the lead screw 53, and the end of the lead screw nut 54 away from the connecting bracket 25 is connected to the outer cylinder 10.

[0052] When the pitch drive mechanism 50 includes two sets of linkage components, the two sets of linkage components are respectively located on both sides of the pitch motor 51 to achieve balanced push and pull of the magnetic attraction mechanism 20.

[0053] Furthermore, the quick-change magnetic suction device for the pipeline robot may also include a fixed bracket 11 that fits into the mounting end 102 of the outer cylinder 10. The fixed bracket 11 is provided with a quick-connect electrical contact plate, and the wires of the magnetic suction mechanism 20 and / or the camera mechanism 30 respectively pass through the mounting end 102 of the outer cylinder 10 and are electrically connected to the electrical contacts on the quick-connect electrical contact plate.

[0054] When installing the pipeline robot onto the pipeline robot using a quick-change magnetic suction device, the fixed bracket 11 is mechanically connected to the docking end of the pipeline robot, and the quick-connect electrical contact plate inside the fixed bracket 11 is simultaneously connected to the electrical contact plate on the docking end of the pipeline robot, thus completing the connection of the electrical circuits in a synchronized manner.

[0055] The fixed bracket 11 is provided with a flange 110, the periphery of which protrudes outward relative to the periphery of the mounting end 102 of the outer cylinder 10, and the flange 110 is provided with a number of spaced guide rollers 120. The guide rollers 120 are used to directly contact the inner wall of the pipe, and play the role of guiding and reducing the frictional resistance of travel.

[0056] In conjunction with the fixed bracket 11, the quick-change magnetic suction device for the pipeline robot may also include a drive mechanism 60 that drives the outer cylinder 10 to rotate circumferentially relative to the fixed bracket 11.

[0057] Alternatively, the drive mechanism 60 may include a drive motor 61 and an internal gear ring 62. The drive motor 61 is disposed inside the outer cylinder 10 and fixedly connected to the fixed bracket 11, while the internal gear ring 62 is disposed on the inner circumferential wall of the outer cylinder 10. The output shaft of the drive motor 61 is provided with a motor gear, which meshes with the internal gear ring 62. After the drive motor 61 is started, its output shaft drives the motor gear to rotate, which in turn drives the meshing internal gear ring 62 to rotate, thereby driving the outer cylinder 10 to rotate circumferentially relative to the fixed bracket 11. The rotation of the outer cylinder 10 also drives the magnetic suction mechanism 20 and the camera mechanism 30 therein to rotate, satisfying multi-angle inspection and foreign object suction within the pipeline.

[0058] Understandably, Figures 1-3 The illustrated embodiment may also include the aforementioned fixed bracket 11 and drive mechanism 60, which similarly drive the outer cylinder 10 and its internal magnetic suction mechanism 20 and camera mechanism 30 to rotate relative to the fixed bracket 11, satisfying multi-angle inspection and foreign object suction within the pipeline. The fixed bracket 11 is equipped with a quick-connect electrical contact plate that connects with the electrical contact plate on the pipeline robot's docking end.

[0059] In summary, the pipeline robot of this utility model uses a quick-change magnetic suction device to attract ferromagnetic foreign objects inside the pipeline through magnetic suction components, thus meeting the requirements for foreign object removal; it also integrates foreign object inspection and foreign object suction functions, which helps to reduce the overall size and is more conducive to pipeline operations.

[0060] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the description and drawings of this utility model, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A quick-change magnetic suction device for a pipeline robot, characterized in that, It includes an outer cylinder, a magnetic attraction mechanism installed inside the outer cylinder, and a camera mechanism; the outer cylinder includes an open end and a mounting end for cooperating with a pipeline robot; The magnetic attraction mechanism includes a magnetic attractor that extends beyond the open end of the outer cylinder and is used to attract foreign objects with ferromagnetism. The camera mechanism is positioned on at least one side of the magnetic attraction mechanism corresponding to the open end of the outer cylinder, and the magnetic attractor is placed within the camera's field of view.

2. The quick-change magnetic suction device for pipeline robots according to claim 1, characterized in that, The magnetic attractor includes an electromagnet.

3. The quick-change magnetic suction device for pipeline robots according to claim 1, characterized in that, The magnetic attraction mechanism also includes a support frame, and the magnetic attraction element is fixed to the front end face of the support frame facing the opening end of the outer cylinder; the camera is mounted on the support frame.

4. The quick-change magnetic suction device for pipeline robots according to claim 1, characterized in that, The quick-change magnetic suction device for the pipeline robot also includes a lighting component, which is at least disposed on the front end face of the magnetic suction mechanism facing the opening end of the outer cylinder, to provide illumination for the camera mechanism.

5. The quick-change magnetic suction device for pipeline robots according to claim 1, characterized in that, The quick-change magnetic suction device for the pipeline robot also includes a pitch drive mechanism, which is connected between the magnetic suction mechanism and the outer cylinder, and drives the magnetic suction mechanism and the camera mechanism to perform pitch movements relative to the outer cylinder.

6. The quick-change magnetic suction device for pipeline robots according to claim 5, characterized in that, The pitch drive mechanism includes a pitch motor and at least one set of linkage components. The pitch motor is mounted on the magnetic attraction mechanism and is fixed relative to the magnetic attraction mechanism. The linkage assembly includes a rotary gear, a lead screw, and a lead screw nut. The rotary gear meshes with the output shaft of the pitch motor, and the rotary gear is connected to the lead screw and coaxial with the lead screw. The lead screw nut is fitted onto the lead screw and connected to the outer cylinder.

7. The quick-change magnetic suction device for a pipeline robot according to any one of claims 1-6, characterized in that, The quick-change magnetic suction device for the pipeline robot also includes a fixed bracket that fits into the mounting end of the outer cylinder. The fixed bracket is provided with a quick-connect electrical contact plate. The wires of the magnetic suction mechanism and / or the camera mechanism pass through the mounting end of the outer cylinder and are electrically connected to the electrical contacts on the quick-connect electrical contact plate.

8. The quick-change magnetic suction device for pipeline robots according to claim 7, characterized in that, The fixed bracket is provided with a flange, which protrudes outward from the periphery of the mounting end of the outer cylinder, and the flange is provided with a number of guide rollers arranged at intervals.

9. The quick-change magnetic suction device for pipeline robots according to claim 7, characterized in that, The quick-change magnetic suction device for the pipeline robot also includes a drive mechanism for driving the outer cylinder to rotate relative to the fixed support.

10. The quick-change magnetic suction device for pipeline robots according to claim 9, characterized in that, The drive mechanism includes a drive motor placed inside the outer cylinder and fixedly connected to the fixed bracket, and an internal gear ring disposed on the inner peripheral wall of the outer cylinder. The output shaft of the drive motor is equipped with a motor gear, which meshes with the internal gear ring; the drive motor drives the outer cylinder to rotate circumferentially relative to the fixed bracket through the internal gear ring.

Images