An adaptive variable diameter pipeline robot

Abstract

An adaptive variable-diameter pipeline robot, the driving rod is installed in the center hole of the mounting flange of the mounting seat, the rack is symmetrically arranged in pairs and is uniformly installed at the side of the driving rod at an angle of 120 degrees, and the wheels are connected with the mounting flange and the connecting rod of the mounting seat through rotating shafts. The driving rod is pulled by traction force, driving the rack to slide along the center hole of the mounting flange, the gear engaged with the rack rotates, driving the swing rod to swing and pushing the wheel frame to swing outward away from the center through the nitrogen spring, so that the wheels are tightly attached to the pipe wall. The 120-degree uniform distribution layout has the structural characteristics of automatic center positioning, which can ensure that the robot is in the center position of the pipeline axis during movement, avoid large load on a single wheel, and thus avoid jamming, and enhance the obstacle crossing ability; the gear and rack are combined with the crank rocker mechanism to realize motion linkage, effectively reducing the number of drives, thereby reducing the failure rate, and reducing the failure probability of the robot when working in the complex environment inside the pipeline.

Description

Technical Field

[0001] This utility model relates to the field of pipeline robots, and in particular to an adaptive variable diameter pipeline robot. Background Technology

[0002] Pipeline transportation is the most common mode of transporting liquids and gases over long distances, characterized by low cost and high reliability. However, because pipelines are often exposed or buried deep underground, pipeline leaks caused by factors such as pipeline aging, corrosion perforation, geological disasters, and external damage occur frequently, resulting in serious loss of life and property and social impact.

[0003] Pipeline crawling robots perform pipeline monitoring and maintenance in various harsh environments, including underwater, underground, and high-altitude areas. They have pioneered a new form of pipeline inspection, fundamentally changing the cumbersome and destructive approach of traditional pipeline excavation and sampling. However, pipeline crawling robots also face challenges such as the bulky nature of the entire inspection equipment, which can affect the robot's center of gravity, causing it to trip; high energy consumption during on-site operation; limited effective working time; and inconvenience in carrying. Utility Model Content

[0004] This invention aims to solve problems such as uneven load distribution and jamming in the wheel system of mobile carriers for transporting circular pipelines over long distances, and improves the reliability of the equipment under complex working conditions through a linkage mechanism.

[0005] To solve the above problems, this application provides the following technical solution:

[0006] An adaptive variable-diameter pipe robot includes an active rod, wherein each rectangular sidewall of the active rod has multiple parallel concave grooves at both ends, and the two ends of the active rod are slidably connected to the center holes of two flanges, respectively.

[0007] Each flange is fixedly connected to the central hole of the mounting base on both sides, and each mounting base has multiple pairs of bosses evenly distributed on one side.

[0008] Multiple connecting rods are fixedly connected to the mounting bases on both sides. Each connecting rod has multiple swivel holes symmetrically arranged on its column body, and a swivel shaft is rotatably connected in each swivel hole.

[0009] Each rectangular sidewall of the inner wall of each central hole is provided with two parallel semi-circular protrusions, and each semi-circular protrusion slides in contact with each corresponding concave groove.

[0010] Each pair of bosses is fixedly connected to the shaft of the drive wheel. The shaft is rotatably connected to a pair of holes on the top of the wheel frame. A wheel is mounted on the bottom of the wheel frame. The wheel is rotatably connected to the wheel frame. The wheel frame is also rotatably connected to a long shaft.

[0011] Each second fixing hole of each flange is respectively fixed to the screw hole of the mounting base by bolts.

[0012] The active rod is also provided with a plurality of first fixing holes. Each pair of first fixing holes is respectively fixedly connected to the two rack holes of a rack by bolts. The active rod is also fixedly connected with a plurality of racks. Each rectangular sidewall of the active rod is fixedly connected with two racks. The teeth of each rack mesh and rotate to connect with the teeth of a gear.

[0013] Each mounting base is also provided with multiple third fixing holes evenly distributed along the center. Each third fixing hole is located between each pair of bosses. Each third fixing hole of the mounting base at both ends is fixedly connected to the connecting hole of each connecting rod by bolts. The two ends of the connecting rod are respectively fixedly connected to the mounting bases on both sides.

[0014] The outer wall of each rotating shaft is fixedly connected to the inner wall of the gear, the inner wall of each rotating shaft is fixedly connected to the rocker arm, and the rocker arm is fixedly connected to each gear; a short shaft is rotatably connected to the hole on the other side wall of each rocker arm; the bottom connecting hole of each short shaft is rotatably connected to the nitrogen spring; and the connecting hole of the top telescopic rod of each nitrogen spring is rotatably connected to the outer wall of the long shaft.

[0015] Each connecting rod has a groove and a connecting hole at both ends, and the rotating shaft is installed on the outside of the groove of the connecting rod.

[0016] The active rod is a triangular prism, and multiple concave grooves are provided at both ends of the active rod symmetrically; two parallel concave grooves are provided at both ends of each rectangular sidewall of the active rod.

[0017] The mounting bases on both sides are fixedly connected to three connecting rods. Each connecting rod has two symmetrical pivot holes on its shaft, and a pivot shaft is rotatably connected in each pivot hole.

[0018] Preferably, each mounting base has three pairs of bosses on one side, and a rotating shaft is installed in the inner hole of each boss.

[0019] Preferably, the wheel frame is Y-shaped.

[0020] The flange can slide freely on the concave groove.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] 1. Each rack of the active rod is evenly distributed at 120 degrees. The three wheels on both sides of the active rod form a stable three-point support with the pipeline to be inspected. After entering the pipeline, it has the structural characteristics of automatically locating and detecting the center of the pipeline. This ensures that the machine is in the center position of the axis of the pipeline being inspected during the movement, avoiding large loads on a single active wheel branch, thus avoiding the problem of a single active wheel getting stuck, and enhancing the obstacle-crossing ability of the adaptive variable diameter pipeline robot.

[0023] 2. When using an adaptive variable diameter pipeline robot for pipeline inspection, each gear and rack, combined with a swing arm and nitrogen spring, enables the coordinated movement of multiple wheels. This avoids the need for each wheel to be driven individually to simultaneously contact the inner wall of the pipeline, thereby reducing the problem of wheels that are not in contact with the inner wall spinning idly. This reduces the probability of idling failure when the robot is working in the complex environment inside the pipeline. The adaptive variable diameter pipeline robot will not tip over inside the pipeline, thus improving the equipment reliability of the adaptive variable diameter pipeline robot. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the adaptive variable diameter pipe robot of this utility model;

[0025] Figure 2 This is a schematic diagram of the structure of the active rod of this utility model;

[0026] Figure 3 This is a schematic diagram of the connection structure between the active rod and the rack of this utility model;

[0027] Figure 4 This is a disassembled structural diagram of the active rod and mounting base of this utility model;

[0028] Figure 5 This is a schematic diagram of the connection structure between the active rod and the mounting base of this utility model;

[0029] Figure 6 This is a schematic diagram of the connection structure of the active rod, mounting base and connecting rod of this utility model;

[0030] Figure 7 This is a schematic diagram of the connecting rod of this utility model;

[0031] Figure 8 This is a schematic diagram of the connection structure of the wheel, wheel frame, long shaft, and rotating shaft of this utility model;

[0032] Figure 9 This is a schematic diagram of the connection structure of the wheel and wheel frame of this utility model;

[0033] Figure 10 This is a schematic diagram of the nitrogen spring structure of this utility model;

[0034] Figure 11 This is a schematic diagram of the connection structure of the rocker arm and gear of this utility model;

[0035] Figure 12 This is a schematic diagram of the connection structure of the connecting rod, rotating shaft, gear, and rocker arm of this utility model;

[0036] Figure 13 This is a right-side view of the connection structure between the active rod and the wheel of this utility model;

[0037] Figure 14 This is a left-side view of the connection structure between the active rod and the wheel of this utility model;

[0038] Figure 15 This is a bottom view schematic diagram of the connection structure between the active rod and the wheel of this utility model;

[0039] Figure 16 This is a bottom view of the connection structure between the active rod and the three wheels of this utility model;

[0040] Figure 17 This is a schematic diagram of the connection structure between the active rod and the six wheels of this utility model;

[0041] Figure 18 This is the front view of the adaptive variable diameter pipe robot of this utility model.

[0042] Reference numerals: 1. Drive rod; 101. First fixing hole; 102. Recessed groove; 2. Mounting base; 201. Flange; 201. Second fixing hole; 2011. Center hole; 2012. Semi-circular protrusion; 2013. Connecting rod; 2022. Connecting hole; 2021. Rotating shaft hole; 2022. Boss; 203. Third fixing hole; 204. Screw hole; 205. Center hole; 206. Rack; 3. Rack hole; 301. Drive wheel; 4. Gear; 401. Rocker arm; 402. Short shaft; 403. Nitrogen spring; 404. Telescopic rod; 4041. Long shaft; 405. Wheel frame; 406. Wheel; 407. Rotating shaft; 408. Rotating shaft; 409. Detailed Implementation

[0043] The technical solution of this utility model will be further described in detail below through embodiments and in conjunction with the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this utility model; however, this utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0044] In the description of this utility model, it should be noted that the terms "both ends," "both sides," "one side," "upper," "the other side," "inner wall," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the utility model product is usually placed during use. 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.

[0045] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation", "connection", "equipped with", "provided with", etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral connection, or a direct connection. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0046] Example 1

[0047] Please see Figures 1 to 18 An adaptive variable-diameter pipe robot includes an active rod 1. Multiple parallel concave grooves 102 are provided at both ends of each rectangular sidewall of the active rod 1. The two ends of the active rod 1 are slidably connected to the center holes 2012 of two flanges 201, respectively.

[0048] The active rod 1 is a triangular prism containing three adjacent rectangular sidewalls and two opposing triangular sidewalls. Multiple parallel concave grooves 102 are provided at both ends of the middle wall of the three adjacent rectangular sidewalls.

[0049] Each flange 201 is fixedly connected to the central hole 206 of the mounting base 2 on both sides, and each mounting base 2 has multiple pairs of bosses 203 evenly provided on one side.

[0050] Multiple connecting rods 202 are fixedly connected between the mounting bases 2 on both sides. Each connecting rod 202 has multiple swivel holes 2022 symmetrically arranged on its column body. A swivel shaft 408 is rotatably connected in each swivel hole 2022.

[0051] Preferably, three connecting rods 202 are fixedly connected between the mounting bases 2 on both sides.

[0052] Each rectangular sidewall of the inner wall of each central hole 2012 is provided with two parallel semi-circular protrusions 2013, and each semi-circular protrusion 2013 slides in contact with each corresponding concave groove 102.

[0053] Each central hole 2012 has a hollow triangular prism inner wall with three rectangular inner sidewalls.

[0054] Each pair of bosses 203 is fixedly connected to the shaft 409 of the drive wheel 4. The shaft 409 is rotatably connected to a pair of holes on the top of the wheel frame 406. The bottom of the wheel frame 406 is equipped with a wheel 407, which is rotatably connected to the wheel frame 406. The wheel frame 406 is also rotatably connected to a long shaft 405.

[0055] Preferably, a long shaft 405 is rotatably connected to the central circular hole of the wheel frame 406.

[0056] Each second fixing hole 2011 of each flange 201 is respectively fixed to the screw hole 205 of the mounting base 2 by bolts.

[0057] The active rod 1 is also provided with a plurality of first fixing holes 101. Each pair of first fixing holes 101 is respectively fixedly connected to the two rack holes 301 of a rack 3 by bolts. The active rod 1 is also fixedly connected with a plurality of racks 3. Each rectangular sidewall of the active rod 1 is fixedly connected with two racks 3. The teeth of each rack 3 are meshed and rotated to connect with the teeth of the gear 401.

[0058] Each mounting base 2 is also provided with a plurality of third fixing holes 204 evenly distributed along the center. Each third fixing hole 204 is located between each pair of bosses 203. Each third fixing hole 204 of the mounting base 2 at both ends is fixedly connected to the connecting hole 2021 of each connecting rod 202 by bolts. The two ends of the connecting rod 202 are respectively fixedly connected to the mounting base 2 on both sides.

[0059] The outer wall of each rotating shaft 408 is fixedly connected to the inner wall of the gear 401, the inner wall of each rotating shaft 408 is fixedly connected to the rocker arm 402, and the rocker arm 402 is fixedly connected to each gear 401; a short shaft 403 is rotatably connected to the hole on the other side wall of each rocker arm 402; the bottom connecting hole of each short shaft 403 is rotatably connected to the nitrogen spring 404; and the connecting hole of the top telescopic rod 4041 of each nitrogen spring 404 is rotatably connected to the outer wall of the long shaft 405.

[0060] Each connecting rod 202 has a groove and a connecting hole 2021 at both ends, and the rotating shaft 409 is installed on the outside of the groove of the connecting rod 202.

[0061] The active rod 1 is a triangular prism, and multiple concave grooves 102 are provided at both ends of the active rod 1 symmetrically; two parallel concave grooves 102 are provided at both ends of each rectangular sidewall of the active rod 1.

[0062] The mounting bases on both sides are fixedly connected to three connecting rods 202. Each connecting rod 202 has two symmetrical pivot holes 2022 on its column body, and a pivot shaft 408 is rotatably connected in each pivot hole 2022.

[0063] Each mounting base 2 has three pairs of bosses 203 on one side, and a rotating shaft 409 is installed in the inner hole of each boss 203.

[0064] The wheel frame 406 is Y-shaped.

[0065] Flange 201 can slide freely on the concave groove 102.

[0066] The operating principle of this device is as follows:

[0067] See Figure 18 The traction force F exerted by wheel 407 on drive lever 1 is directed to the right.

[0068] Each of the mounting bases 2 at both ends is equipped with three wheels 407 on each side. When all six wheels 407 rotate to the right and enter the pipe to be tested, the three wheels 407 on the right side pull the short shafts 403 of the three nitrogen springs 404 to rotate counterclockwise along the swing rod 402. The swing rod 402 drives the gear 401 to rotate counterclockwise. The gear 401 drives the rack 3 on the right side of the drive rod 1 to move to the left. The three swing rods 402 on the left side will also rotate counterclockwise at the same time. Each swing rod 402 on the left side rotates counterclockwise and pushes each nitrogen spring 404 on the left side outward. The nitrogen spring 404 pushes each wheel 407 on the left side outward until each wheel 407 on the left side opens up and contacts the inner wall of the pipe to be tested, at which point the drive rod 1 stops sliding to the left.

[0069] The three wheels 407 of one mounting base 2 swing outward away from the center of the drive rod 1, while the three wheels 407 of the other mounting base 2 swing outward toward the drive rod 1. At this time, the six wheels 407 are still tightly attached to the inner wall of the pipe.

[0070] Simply drive the adaptive variable diameter pipeline robot into the pipeline from one end of the inlet and out from the other end of the outlet.

[0071] The nitrogen spring 404 has a hollow internal structure and is filled with nitrogen gas. The nitrogen gas allows the telescopic rod 4041 to elastically expand and contract. The nitrogen spring 404 is slidably connected to the hollow inner wall of the telescopic rod 4041 via its outer wall. The telescopic rod 4041 seals and compresses the nitrogen gas. A sealing ring is provided at the connection between the telescopic rod 4041 and the hollow inner wall of the nitrogen spring 404 to prevent nitrogen leakage. It should be noted that the gas is not limited to nitrogen, but can also be other inert gases such as helium. The nitrogen spring 404 can also be purchased directly from the market.

[0072] All six wheels 407 are conventional hub motors used by those skilled in the art, and can be purchased directly from the market. This application does not improve the structure or power circuit of the hub motor in wheel 407, and the internal structure of wheel 407 will not be described in detail here.

[0073] All are powered by batteries, and all six wheels of the 407 are identical and rotate at the same speed.

[0074] Each mounting base 2 is exactly the same, each rack 3 is exactly the same, and each drive wheel 4 is exactly the same.

[0075] Example 2

[0076] like Figures 1-18As shown, an adaptive variable diameter pipe robot includes an active rod 1, a mounting base 2, a rack 3, and an active wheel 4. The active rod 1 is installed in the center hole 2012 of the flange 201 of the mounting base 2. The racks 3 on the active rod 1 are arranged symmetrically in pairs and are evenly distributed on the side of the active rod 1 at an angle of 120 degrees. The rotating shaft 408 and the connecting rod 202 are rotatably connected.

[0077] like Figure 1 As shown, the driving wheel 4 also includes a gear 401, a rocker arm 402, a short shaft 403, a nitrogen spring 404, a long shaft 405, a wheel frame 406, a wheel 407, a rotating shaft 408, and a rotating shaft 409. The rotating shaft 409 is installed on the boss 203 of the flange 201, and the rotating shaft 408 is installed at the circular rotating shaft hole 2022 of the connecting rod 202. The gear 401 and the rocker arm 402 are fixedly connected to the rotating shaft 408. One end of the nitrogen spring 404 is rotatably installed in the hole on the other side wall of the rocker arm 402 through the short shaft 403, and the other end is rotatably installed in the circular hole in the middle of the wheel frame 406 through the long shaft 405. The wheel 407 is installed in the Y-shaped opening of the wheel frame 406.

[0078] like Figure 3 As shown, the cross-section of the active rod 1 is triangular, and concave grooves 102 are machined on the surfaces of both ends of the active rod 1 to enhance its bending resistance.

[0079] like Figure 1 and Figure 2 As shown, the two mounting seats 2 are symmetrically arranged, the two flanges 201 are symmetrically arranged, and the three connecting rods 202 are distributed at a 120-degree angle, with each connecting rod 202 installed between the two mounting seats 2. The rack 3 is a hardened tooth rack, and the gear 401 is a hardened tooth gear.

[0080] like Figure 10 As shown, nitrogen spring 404 is a pressure-type nitrogen spring. Wheel 407 is a hub motor with active drive capability.

[0081] The adaptive variable diameter pipe robot of this utility model will be further described below with reference to examples:

[0082] The adaptive variable diameter pipe robot is placed inside the inner wall of the pipe to be tested. The active rod 1 is pulled by the traction force of the wheel 407 of the active wheel 408, which drives the rack 3 to slide along the center hole of the flange 201. The gear 401 meshing with the rack 3 rotates, which drives the swing rod 402 to swing and pushes the wheel frame 406 away from the center of the active rod 1 to swing outward through the nitrogen spring 404, so that the wheel 407 is in close contact with the pipe wall. According to the magnitude of the resistance generated by the load, the nitrogen spring 404 can automatically adjust the positive pressure between the wheel 407 and the inner wall of the pipe to achieve the purpose of adjusting the traction force.

[0083] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. An adaptive variable diameter pipe robot, comprising an active rod (1), characterized in that, Multiple parallel concave grooves (102) are provided at both ends of each rectangular sidewall of the active rod (1), and the two ends of the active rod (1) are slidably connected to the center holes (2012) of two flanges (201). Each flange (201) is fixedly connected to the central hole (206) of the mounting base (2) on both sides, and each mounting base (2) is provided with multiple pairs of bosses (203) evenly on one side. The mounting bases (2) on both sides are fixedly connected to multiple connecting rods (202). Each connecting rod (202) has multiple swivel holes (2022) symmetrically arranged on its column body. Each swivel hole (2022) is rotatably connected to a swivel shaft (408).

2. The adaptive variable diameter pipe robot according to claim 1, characterized in that, Each rectangular sidewall of the inner wall of each central hole (2012) is provided with two parallel semi-circular protrusions (2013), and each semi-circular protrusion (2013) slides in contact with each corresponding concave groove (102).

3. The adaptive variable diameter pipe robot according to claim 1, characterized in that, Each pair of bosses (203) is fixedly connected to the shaft (409) of the drive wheel (4). The shaft (409) is rotatably connected to a pair of holes on the top of the wheel frame (406). The bottom of the wheel frame (406) is equipped with a wheel (407). The wheel (407) is rotatably connected to the wheel frame (406). The wheel frame (406) is also rotatably connected to a long shaft (405).

4. The adaptive variable diameter pipe robot according to claim 1, characterized in that, Each second fixing hole (2011) of each flange (201) is respectively fixed to the screw hole (205) of the mounting base (2) by bolts.

5. The adaptive variable diameter pipe robot according to claim 1, characterized in that, The active rod (1) is also provided with a plurality of first fixing holes (101). Each pair of first fixing holes (101) is respectively fixedly connected to the two rack holes (301) of a rack (3) by bolts. The active rod (1) is also fixedly connected with a plurality of racks (3). Each rectangular sidewall of the active rod (1) is fixedly connected with two racks (3). The teeth of each rack (3) are meshed and rotated to connect to the teeth of the gear (401).

6. The adaptive variable diameter pipe robot according to claim 1, characterized in that, Each mounting base (2) is also provided with a plurality of third fixing holes (204) evenly distributed along the center. Each third fixing hole (204) is located between each pair of bosses (203). Each third fixing hole (204) of the mounting base (2) at both ends is fixedly connected to the connecting hole (2021) of each connecting rod (202) by bolts. The two ends of the connecting rod (202) are respectively fixedly connected to the mounting bases (2) on both sides.

7. The adaptive variable diameter pipe robot according to claim 1, characterized in that, The outer wall of each rotating shaft (408) is fixedly connected to the inner wall of the gear (401), the inner wall of each rotating shaft (408) is fixedly connected to the rocker arm (402), and the rocker arm (402) is fixedly connected to each gear (401); a short shaft (403) is rotatably connected to the hole on the other side wall of each rocker arm (402); the bottom connecting hole of each short shaft (403) is rotatably connected to the nitrogen spring (404); the connecting hole of the top telescopic rod (4041) of each nitrogen spring (404) is rotatably connected to the outer wall of the long shaft (405).

8. An adaptive variable diameter pipe robot according to claim 1, characterized in that, Each connecting rod (202) has a groove and a connecting hole (2021) at both ends, and the rotating shaft (409) is installed on the outside of the groove of the connecting rod (202).

9. An adaptive variable diameter pipe robot according to claim 1, characterized in that, The active rod (1) is a triangular prism, and multiple concave grooves (102) are provided at both ends of the active rod (1) symmetrically; two parallel concave grooves (102) are provided at both ends of each rectangular sidewall of the active rod (1).

10. An adaptive variable diameter pipe robot according to claim 1, characterized in that, The mounting bases (2) on both sides are fixedly connected to three connecting rods (202). Each connecting rod (202) has two symmetrical pivot holes (2022) on its column body. A pivot shaft (408) is rotatably connected in each pivot hole (2022).

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