Pipe foreign object grabbing robot

Abstract

This utility model discloses a pipe foreign object grasping robot, including a power vehicle body, a foreign object grasping mechanism for grasping foreign objects inside the pipe, and a flexible first connecting pipe, which connects the power vehicle body and the foreign object grasping mechanism. The power vehicle body includes a walking mechanism for abutting against the inner wall of the pipe, a drive mechanism, and an adaptive diameter-changing mechanism that can adapt to changes in the inner diameter of the pipe and / or uneven obstacles inside the pipe. The walking mechanism is installed at the end of the adaptive diameter-changing mechanism. The drive mechanism is connected to the walking mechanism and drives the walking mechanism to walk inside the pipe. This pipe foreign object grasping robot can naturally pass through pipe bends, U-shaped joints, and other pipe connectors by conforming to the curvature changes of the pipe connectors. The power vehicle body, through the adaptive diameter-changing mechanism, can adapt to changes in the inner diameter of the pipe and / or uneven obstacles inside the pipe, smoothly entering and exiting the pipe to grasp foreign objects.

Description

Technical Field

[0001] This utility model relates to the field of pipeline maintenance equipment technology, and in particular to a pipeline foreign object grasping robot. 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] Currently, the inspection and removal of foreign objects inside pipelines in the nuclear power plant operation and maintenance field suffers from drawbacks such as high operational difficulty, high risk of human error, and low work efficiency. Existing pipeline foreign object removal tools have the following problems:

[0004] The short distance into the pipeline means that foreign objects can only be inspected and removed in the vicinity of the pipe opening. For foreign objects to be inspected and removed in narrow pipelines, the pipeline often needs to be disassembled in sections, which is difficult, consumes a lot of manpower and time, and has low efficiency.

[0005] Traditional endoscopy combined with foreign body retrieval tools has poor coupling, often requiring the use of multiple tools in combination to remove the foreign body, resulting in high operational difficulty and low reliability.

[0006] Given the rapid development of domestic and international industrial technology and the leaps and bounds in related automation and intelligent industries, it is necessary to develop new nuclear-grade pipeline inspection and foreign object grasping robots, taking into account the types and layouts of pipelines at nuclear power plants, in order to achieve comprehensive improvements in safety, quality, schedule, and cost in related operation and maintenance fields. Utility Model Content

[0007] The technical problem to be solved by this utility model is to provide a pipe foreign object grasping robot.

[0008] The technical solution adopted by this utility model to solve its technical problem is: to provide a pipe foreign object grasping robot, including a power vehicle body that can walk inside the pipe, a foreign object grasping mechanism for grasping foreign objects inside the pipe, and a flexible first connecting pipe, wherein the first connecting pipe is connected between the power vehicle body and the foreign object grasping mechanism.

[0009] The power vehicle body includes a traveling mechanism for abutting against the inner wall of the pipe, a drive mechanism, and an adaptive diameter-changing mechanism capable of adapting to changes in the inner diameter of the pipe and / or uneven obstacles inside the pipe; the traveling mechanism is installed at the end of the adaptive diameter-changing mechanism; the drive mechanism is connected to the traveling mechanism and drives the traveling mechanism to travel inside the pipe.

[0010] In some embodiments, the end of the first connecting pipe away from the power vehicle body is provided with a mounting flange for cooperating with the foreign object grasping mechanism.

[0011] In some embodiments, the end of the first connecting pipe away from the power vehicle body is provided with a mounting flange for cooperating with the foreign object grasping mechanism, and the inner side of the mounting flange is provided with a quick-connect electrical contact that docks with the quick-connect electrical contact plate on the foreign object grasping mechanism to achieve electrical connection.

[0012] In some embodiments, the first connecting pipe is a corrugated pipe.

[0013] In some embodiments, the adaptive diameter changing mechanism includes at least one set of rocker arm units disposed on the drive mechanism and openable and closeable relative to the drive mechanism. The rocker arm unit includes a plurality of rocker arms spaced apart in the circumferential direction of the drive mechanism and a tensioning component disposed corresponding to each rocker arm.

[0014] The walking mechanism includes a drive wheel rotatably mounted at the end of each of the rocker arms, and the tensioning assembly drives the rocker arm to rotate toward the inner wall of the pipe so that the drive wheel at the end of the rocker arm is in close contact with the inner wall of the pipe.

[0015] In some embodiments, the tensioning assembly includes a guide rail, a connecting rod, and an elastic element; the guide rail is disposed on the drive mechanism and extends in the same direction as the rocker arm; the connecting rod is supported between the rocker arm and the guide rail, a first end of the connecting rod is connected to the rocker arm, and a second end of the connecting rod is engaged with the guide rail and can move back and forth along the guide rail; one end of the elastic element is connected to the first end of the connecting rod, and the other end extends away from the guide rail and is connected to the drive mechanism.

[0016] In some embodiments, the drive mechanism includes a drive motor and a transmission box. The transmission box is disposed at the output end of the drive motor. A plurality of rocker arms of the rocker arm unit are distributed at intervals along the outer periphery of the drive motor and are rotatably connected to the transmission box. Each rocker arm is provided with a transmission shaft. One end of the transmission shaft is connected to a transmission component in the transmission box, and the other end is connected to the drive wheel.

[0017] In some embodiments, the adaptive diameter changing mechanism includes two sets of the rocker arm units, and the drive mechanism includes two transmission boxes;

[0018] The drive motor is a dual-output motor, and the two transmission boxes are respectively located at the two output ends of the drive motor; the two sets of rocker arm units are arranged facing each other on the drive mechanism and connected to the corresponding transmission boxes, and the rocker arms of the two sets of rocker arm units are staggered.

[0019] In some embodiments, a support sleeve is provided on the outer periphery of the drive motor; a plurality of tensioning components are distributed at intervals along the circumference of the support sleeve corresponding to the rocker arm and are disposed on the support sleeve.

[0020] In some embodiments, the pipe foreign object grasping robot further includes a second connecting pipe and an electrical control compartment; the second connecting pipe is connected between the power vehicle body and the electrical control compartment.

[0021] In some embodiments, the foreign object grasping mechanism includes a foreign object grasping tool head and a camera unit mounted on the foreign object grasping tool head; the foreign object grasping tool head is any one of a vacuum tool head, a magnetic tool head, a clamping tool head, and a rope-slinging tool head.

[0022] In some embodiments, the foreign object grasping mechanism is selected from any one of a vacuuming mechanism, a magnetic suction mechanism, a clamping mechanism, and a rope-slinging mechanism.

[0023] The beneficial effects of this utility model are as follows: The power vehicle body and the foreign object grasping mechanism are connected through a first connecting pipe. The power vehicle body pushes and pulls the foreign object grasping mechanism into and out of the pipeline through the first connecting pipe. The first connecting pipe is flexible, allowing the pipeline foreign object grasping robot to naturally pass through pipeline bends, U-shaped joints, and other pipeline connectors by adapting to changes in the curvature of the connectors. The power vehicle body is equipped with an adaptive diameter-changing mechanism, which can adapt to changes in the inner diameter of the pipeline and / or uneven obstacles within the pipeline, allowing it to smoothly enter and exit the pipeline to perform foreign object grasping. Attached Figure Description

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments. In the accompanying drawings:

[0025] Figure 1 This is a schematic diagram of the structure of a pipe foreign object grasping robot according to an embodiment of the present invention;

[0026] Figure 2 yes Figure 1 The diagram shows the structure of the pipe foreign object grasping robot after the foreign object grasping mechanism has been removed.

[0027] Figure 3 yes Figure 1 The diagram shows the structure of the power unit (after removing the transmission box shell) in the pipe foreign object grasping robot.

[0028] Figure 4 yes Figure 1 The diagram shows the structure of the power unit (after the rocker arm is removed) in the pipe foreign object grasping robot.

[0029] Figure 5 This is a schematic diagram of the module structure of the tensioning component in a pipe foreign object grasping robot according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the first embodiment of the foreign object grasping mechanism in the pipe foreign object grasping robot of this utility model;

[0031] Figure 7 This is a schematic diagram of the second embodiment of the foreign object grasping mechanism in the pipe foreign object grasping robot of this utility model;

[0032] Figure 8 This is a schematic diagram of the third embodiment of the foreign object grasping mechanism in the pipe foreign object grasping robot of this utility model;

[0033] Figure 9 This is a schematic diagram of the fourth embodiment of the foreign object grasping mechanism in the pipe foreign object grasping robot of this utility model. Detailed Implementation

[0034] 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.

[0035] like Figures 1-2 As shown, a pipeline foreign object grasping robot according to an embodiment of the present invention includes a power vehicle body 10, a foreign object grasping mechanism 30, and a flexible first connecting pipe 20. The first connecting pipe 20 is connected between the power vehicle body 10 and the foreign object grasping mechanism 30, connecting the three into one unit.

[0036] The power vehicle 10 can move inside the pipe, driving the entire pipe foreign object grasping robot in and out of the pipe, and moving forward or backward within the pipe. The foreign object grasping mechanism 30 is used to grasp foreign objects inside the pipe. When the pipe foreign object grasping robot moves forward inside the pipe, the power vehicle 10 pushes the front-end foreign object grasping mechanism 30 forward through the first connecting pipe 20; when the pipe foreign object grasping robot retreats inside the pipe, the power vehicle 10 pulls the front-end foreign object grasping mechanism 30 backward through the first connecting pipe 20.

[0037] The first connecting pipe 20 has a certain degree of flexibility, enabling it to bend and recover at various angles, allowing the pipe foreign object grasping robot to naturally pass through pipe connectors such as bends and U-shaped joints, adapting to the curvature changes of the pipe connectors. The first connecting pipe 20 is preferably a corrugated pipe.

[0038] The end of the first connecting pipe 20 away from the power vehicle body 10 is provided with a mounting flange 21, which is used to cooperate with the foreign object grabbing mechanism 30 to realize the quick and convenient installation and removal of the foreign object grabbing mechanism 30 on the first connecting pipe 20, thereby facilitating the installation and use of different types of foreign object grabbing mechanisms 30, and realizing the grabbing of foreign objects in the pipe by suction, clamping, magnetic attraction or sleeve.

[0039] The wires of the foreign object grasping mechanism 30 can pass through the first connecting pipe 20 and exit the power vehicle body 10 for external connection, or they can pass through the first connecting pipe 20 and be integrated with the wires of the power vehicle body 10 as the main line, and then be connected externally through the main line. Alternatively, a quick-connect electrical contact 22 can be provided inside the mounting flange 21, and a quick-connect electrical contact plate can be provided at the docking end of the foreign object grasping mechanism 30. When the docking end of the foreign object grasping mechanism 30 docks with the mounting flange 21, the quick-connect electrical contact plate simultaneously makes contact with the quick-connect electrical contact 22, completing the mechanical connection and realizing the electrical connection at the same time; the quick-connect electrical contact 22 is then electrically connected to the main cable of the pipeline foreign object grasping robot through a cable.

[0040] The power vehicle body 10 may include a traveling mechanism 11, a drive mechanism 12, and an adaptive diameter-changing mechanism. The traveling mechanism 11 is mounted at the end of the adaptive diameter-changing mechanism and is used to abut against the inner wall of the pipe. The drive mechanism 12 is drively connected to the traveling mechanism 11 and drives the traveling mechanism 11 to travel inside the pipe. The adaptive diameter-changing mechanism can adapt to changes in the inner diameter of the pipe and / or uneven obstacles inside the pipe, thereby driving the traveling mechanism 11 at the end to adapt to changes in the inner diameter of the pipe and maintain contact with the inner wall of the pipe / traverse uneven obstacles inside the pipe.

[0041] Specifically, the drive mechanism 12 can be axially connected to the end of the first connecting pipe 20 away from the foreign object grasping mechanism 30, and can form the supporting body of the power vehicle body 10. The adaptive diameter changing mechanism includes at least one set of rocker arm units 13, which are disposed on the drive mechanism 12 and can open and close relative to the drive mechanism 12 on the outer periphery of the drive mechanism 12.

[0042] The rocker arm unit 13 includes a plurality of rocker arms 131 spaced apart around the drive mechanism 12, and a tensioning assembly 14 corresponding to each rocker arm 131. Preferably, the rocker arm unit 13 includes three rocker arms 131. Each rocker arm 131 is rotatably connected (or hinged) to the drive mechanism 12 at one end, and the rocker arm 131 is rotatable relative to the drive mechanism 12. When all the rocker arms 131 of the rocker arm unit 13 rotate to form a 90° angle with the drive mechanism 12, the outer diameter of the traveling mechanism 11 at the end of the rocker arm unit 13 is the maximum inner diameter of the pipe into which the power vehicle body 10 is suitable to enter and exit; when all the rocker arms 131 of the rocker arm unit 13 rotate to be in contact with the drive mechanism 12, the outer diameter of the traveling mechanism 11 at the end of the rocker arm unit 13 is the minimum inner diameter of the pipe into which the power vehicle body 10 is suitable to enter and exit.

[0043] In the power vehicle body 10, the length of the rocker arm 131 can be adjusted to accommodate pipes with different diameters. Alternatively, by setting two different lengths of rocker arm 131, two specifications of power vehicle bodies 10 can be formed, achieving full coverage of the diameter range of 80mm-150mm.

[0044] The tensioning assembly 14 is connected between the rocker arm 131 and the drive mechanism 12, providing tension force to drive the rocker arm 131 to rotate toward the inner wall of the pipe, thereby driving the traveling mechanism 11 at the end of the rocker arm unit 13 to abut against the inner wall of the pipe or an uneven obstacle inside the pipe.

[0045] Combination Figure 2 and Figure 3 In one embodiment, the tensioning assembly 14 includes a guide rail 141, a connecting rod 142, and an elastic element 143. The guide rail 141 is disposed on the drive mechanism 12 and extends in the same direction as the rocker arm 131. The connecting rod 142 is supported between the rocker arm 131 and the guide rail 141. A first end of the connecting rod 142 is connected to the rocker arm 131, and a second end is fitted onto the guide rail 141 and can move back and forth along the guide rail 141. One end of the elastic element 143 is connected to the first end of the connecting rod 142, and the other end extends away from the guide rail 141 and is connected to the drive mechanism 12. When the rocker arm 131 rotates in a direction that aligns with the drive mechanism 12, it drives the connecting rod 142 to move along the guide rail 141 while simultaneously stretching the elastic element 143. Under its own restoring force, the elastic element 143 pulls the connecting rod 142 along the guide rail 141 towards the retraction direction of the elastic element 143. The movement of the connecting rod 142 spreads between the rocker arm 131 and the drive mechanism 12, thereby causing the rocker arm 131 to rotate away from the drive mechanism 12, thus ensuring that the traveling mechanism 11 at the end of the rocker arm 131 abuts against the inner wall of the pipe. As can be seen from the above, the tensioning assembly 14 formed by the elastic element 143 and the connecting rod 142 allows the traveling mechanism 11 to adhere tightly to the inner wall of the pipe in an active adaptive tensioning manner, ensuring that sufficient traction force is generated to travel within the pipe.

[0046] The elastic element 143 can be, but is not limited to, a spring.

[0047] refer to Figures 2-4 The walking mechanism 11 includes a drive wheel 110 rotatably mounted at the end of each rocker arm 131, and the tensioning assembly 14 provides tension force to drive the drive wheel 110 at the end of the rocker arm 131 to press against the inner wall of the pipe.

[0048] The drive mechanism 12 includes a drive motor 121 and a transmission box 122. The transmission box 122 is located at the output end of the drive motor 121. Several rocker arms 131 of the rocker arm unit 13 are distributed at intervals along the outer periphery of the drive motor 121 and are rotatably connected to the transmission box 122. Each rocker arm 131 is provided with a transmission shaft 15. One end of the transmission shaft 15 is connected to the transmission assembly 123 in the transmission box 122, and the other end is connected to the drive wheel 110. When the drive motor 121 is working, it drives the transmission assembly 123 to rotate through its output end. The transmission assembly 123 drives the transmission shaft 15 to rotate, which in turn drives the drive wheel 110 to rotate.

[0049] The transmission housing 122 may include a housing 120 and a transmission assembly 123 disposed within the housing 120. The housing 120 is fixedly connected to the body of the drive motor 121. The end plate of the housing 120 facing the drive motor 121 can serve as a support plate, and the end of the rocker arm 131 away from the drive wheel 110 is rotatably connected to the support plate. The end of the elastic element 143 of the tensioning assembly 14 away from the guide rail 141 can also be connected to the support plate. The output shaft of the drive motor 121 passes through the housing 120 and is connected to the transmission assembly 123 for transmission.

[0050] Alternatively, the transmission assembly 123 may include a gear set. The gear set includes a driving gear coaxially mounted on the output shaft of the drive motor 121 and a driven gear meshing with the driving gear, the driven gear being coaxially connected to the end of the transmission shaft 15. The transmission shaft 15 and the drive wheel 110 can be connected by meshing bevel gears 16.

[0051] exist Figures 1-3 In the illustrated embodiment, the adaptive diameter changing mechanism includes two sets of rocker arm units 13, and the drive mechanism 12 may include two transmission boxes 122. The drive motor 121 is a double-ended output motor, and the two transmission boxes 122 are respectively disposed at the two output ends of the drive motor 121. The transmission component 123 in each transmission box 122 is connected to the output shaft of the corresponding output end. The two sets of rocker arm units 13 are disposed facing each other on the drive mechanism 12 and connected to the corresponding transmission boxes 122. The rocker arms 131 of the two sets of rocker arm units 13 are staggered.

[0052] Corresponding to the rocker arms 131 of the two sets of rocker arm units 13, several tensioning components 14 can be formed into an integral module according to the arrangement of all rocker arms 131, which is convenient for disassembly and assembly.

[0053] like Figure 3 and Figure 5 As shown, a support sleeve 17 is provided on the outer periphery of the drive motor 121; a plurality of tensioning components 14 are provided on the support sleeve 17 corresponding to rocker arms 131, and are distributed at intervals along the circumference of the support sleeve 17. Two adjacent sets of tensioning components 14 are connected to two rocker arms 131 that are staggered, and the two rocker arms 131 belong to two sets of rocker arm units 13.

[0054] In some embodiments, the pipe foreign object grasping robot further includes a second connecting pipe 40 and an electrical control compartment 50; the second connecting pipe 40 connects the power vehicle body 10 and the electrical control compartment 50. The electrical control compartment 50 integrates robot drive circuitry, etc. The wires from the power vehicle body 10 and the foreign object grasping mechanism 30 (or the wires led out from the quick-connect electrical contacts) enter the electrical control compartment 50 along the second connecting pipe 40 and are electrically connected to the robot drive circuitry. A main cable extends from the end of the electrical control compartment 50 away from the second connecting pipe 40, connecting to an external power source or control device. As the rear end of the pipe foreign object grasping robot, the electrical control compartment 50 may also be equipped with a camera, etc., to record and observe the interior of the pipe located at the rear end of the robot in real time.

[0055] For example Figure 1 As shown, the foreign object gripping mechanism 30 is installed at the end of the first connecting pipe 20 in a detachable manner, and can be quickly and easily disassembled and assembled with the first connecting pipe 20 through the mounting flange 21.

[0056] The foreign object grasping mechanism 30 includes a foreign object grasping tool head 31 and a camera unit 32. The camera unit 32 is used to detect foreign objects in the pipeline and provide remote visual guidance. The foreign object grasping tool head 31 is used to grasp the foreign object in the pipeline and remove it from the pipeline after the pipeline foreign object grasping robot exits the pipeline. This foreign object grasping mechanism 30 achieves an integrated design of video guidance and foreign object grasping tool head. The foreign object grasping operation area is always exposed in the camera's field of view, greatly simplifying the operation.

[0057] The camera unit 32 can be mounted on the foreign object grasping tool head 31. The camera unit 32 includes at least one camera.

[0058] The foreign object grasping mechanism 30 is also equipped with an illumination unit 33, which is used to provide supplemental lighting for the camera unit 32 inside the pipe to ensure clear imaging. The illumination unit 33 can be mounted on the foreign object grasping tool head 31 and is located on at least one side of the camera unit 32. The illumination unit 33 includes LED lights or other light sources.

[0059] The foreign object grasping tool head 31 can be any one of a vacuuming tool head, a magnetic suction tool head, a clamping tool head, or a rope-slinging tool head. By selecting a tool head, the foreign object grasping mechanism 30 can be configured as a vacuuming mechanism, a magnetic suction mechanism, a clamping mechanism, or a rope-slinging mechanism.

[0060] Alternatively, the foreign object grasping mechanism 30 may include various foreign object grasping tool heads 31, such as a vacuuming tool head, a magnetic suction tool head, a clamping tool head, and a rope-slinging tool head. The foreign object grasping mechanism 30 may thus form a vacuuming mechanism, a magnetic suction mechanism, a clamping mechanism, or a rope-slinging mechanism.

[0061] The pipeline foreign object grasping robot is equipped with various foreign object grasping mechanisms 30. These mechanisms include various tool heads 31 such as vacuuming heads, magnetic suction heads, gripping heads, and rope-slinging heads. Depending on the different tool heads, the resulting foreign object grasping mechanism 30 functions as a vacuuming mechanism, a magnetic suction mechanism, a gripping mechanism, and a rope-slinging mechanism. These mechanisms can be interchanged on the robot. When grasping foreign objects inside the pipeline, the robot adapts and changes the tool head according to the type, shape, and size of the foreign object, enabling rapid switching between multiple tool heads and allowing for appropriate selection based on the type of foreign object and the pipeline conditions.

[0062] refer to Figure 1 and Figure 6 In the first embodiment of the foreign object grasping tool head 31, the foreign object grasping tool head 31 is a vacuum tool head, including a vacuum head 311, a foreign object storage chamber 312 and a vacuum pump 313. The foreign object storage chamber 312 is connected between the suction end of the vacuum pump 313 and the vacuum head 311. The vacuum head 311 is provided with an opening as a foreign object inlet. The vacuum pump 313 provides power to suck the foreign object in the pipe from the foreign object inlet and store it in the foreign object storage chamber 312.

[0063] refer to Figure 7 In the second embodiment of the foreign object gripping tool head 31, the foreign object gripping tool head 31 is a magnetic tool head, including a magnetic suction element 314, which is used to attract foreign objects with ferromagnetism, such as carbon steel bolts.

[0064] refer to Figure 8 In the third embodiment of the foreign object gripping tool head 31, the foreign object gripping tool head 31 is a clamping tool head, including a gripper 315 and a drive assembly (not shown); the gripper 315 can open and close for gripping foreign objects inside the pipe; the drive assembly drives the gripper 315 to open and close. The drive assembly may include a motor and a multi-stage gear, the multi-stage gear being connected between the motor and the gripper 315. The motor drives the gripper 315 to open and close through the multi-stage gear linkage, and the multi-stage gear also serves to reduce speed. The multi-stage gear is formed by at least two gears meshing sequentially, and the number and diameter of the gears can be determined according to the relative position of the motor and the gripper 315.

[0065] refer to Figure 9In the fourth embodiment of the foreign object grasping tool head 31, the foreign object grasping tool head 31 is a lasso tool head, including a retractable lasso 316 for lassoing foreign objects from pipes. The foreign object grasping tool head 31 also includes a lasso drive box for controlling the retraction and extension of the lasso 316 to adjust the inner diameter of the lasso. The lasso drive box further includes a lasso reel and a lasso drive assembly; the lasso is released from the lasso reel, and its end is fixed to the end face of the lasso drive box to form a lasso; the lasso drive assembly includes a motor and a multi-stage gear, the multi-stage gear being connected between the motor and the lasso reel, and the motor driving the lasso reel to rotate forward and backward through the multi-stage gear linkage to retract and extend the lasso.

[0066] exist Figures 6-9 In the illustrated embodiment, the foreign object gripping tool head 31 further includes an outer cylinder 310, which serves as the outer shell of the tool head 31. The suction head 311, magnetic suction element 314, gripper 315, and lanyard 316 extend beyond the open end of the outer cylinder 310. The foreign object gripping tool head 31 may also include a fixed bracket 317, on which the outer cylinder 310 is fitted. Optionally, the end of the fixed bracket 317 away from the outer cylinder 310 is provided with a flange 318, and the flange 318 is provided with a plurality of spaced guide rollers 319 for contacting the inner wall of the pipe.

[0067] The outer cylinder 310 can also rotate relative to the fixed support 317. To this end, the fixed support 317 is equipped with a rotation drive assembly for driving the outer cylinder 310 to rotate relative to the fixed support 317. The rotation drive assembly includes a drive motor fixedly connected to the fixed support 317 and an internal gear ring disposed on the inner circumferential wall of the outer cylinder 310; 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 310 to rotate circumferentially relative to the fixed support 317 through the internal gear ring.

[0068] When the foreign object is small and scattered, the foreign object grasping mechanism 30 uses a suction mechanism to remove the foreign object from the pipe by suction. When the foreign object is ferromagnetic, the foreign object grasping mechanism 30 uses a magnetic attraction mechanism to remove the foreign object from the pipe by adsorption. When the foreign object is long and thin, the foreign object grasping mechanism 30 uses a clamping mechanism to remove the foreign object from the pipe by clamping. When the foreign object has long, thin protrusions or a complex, irregular structure, the foreign object grasping mechanism 30 uses a rope-looping mechanism to remove the foreign object from the pipe by looping it.

[0069] In summary, this utility model's pipe foreign object grasping robot adopts a multi-degree-of-freedom remote-controlled robot form to grasp foreign objects. Compared with traditional foreign object grasping tools, it is more flexible and reliable in foreign object grasping operations. The foreign object grasping tool head can be quickly switched, and the appropriate choice can be made according to the form of foreign object and the pipe conditions. The tool head forms include vacuuming, gripping, rope-slinging, and magnetic suction. The robot adopts an active tensioning form in the pipe and can pass through horizontal pipes, inclined pipes, vertical pipes, pipe bends, U-shaped heads, etc.

[0070] 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 pipe foreign object grabbing robot, characterized by, It includes a powered vehicle body that can travel inside a pipe, a foreign object grabbing mechanism for grabbing foreign objects inside the pipe, and a flexible first connecting pipe that connects the powered vehicle body and the foreign object grabbing mechanism. The power vehicle body includes a traveling mechanism for abutting against the inner wall of the pipe, a drive mechanism, and an adaptive diameter-changing mechanism capable of adapting to changes in the inner diameter of the pipe and / or uneven obstacles inside the pipe; the traveling mechanism is installed at the end of the adaptive diameter-changing mechanism; the drive mechanism is connected to the traveling mechanism and drives the traveling mechanism to travel inside the pipe.

2. The pipeline foreign object capturing robot of claim 1, wherein, The end of the first connecting pipe furthest from the vehicle body is provided with a mounting flange for cooperating with the foreign object grasping mechanism; or, The end of the first connecting pipe away from the power vehicle body is provided with a mounting flange for cooperating with the foreign object grasping mechanism. The inner side of the mounting flange is provided with a quick-connect electrical contact that connects with the quick-connect electrical contact plate on the foreign object grasping mechanism to achieve electrical connection.

3. The pipeline foreign object capturing robot of claim 1, wherein, The first connecting pipe is a corrugated pipe.

4. The pipeline foreign object capturing robot of claim 1, wherein, The adaptive diameter changing mechanism includes at least one set of rocker arm units disposed on the drive mechanism and capable of opening and closing relative to the drive mechanism. The rocker arm unit includes a plurality of rocker arms spaced apart in the circumferential direction of the drive mechanism and a tensioning component disposed corresponding to each rocker arm. The walking mechanism includes a drive wheel rotatably mounted at the end of each of the rocker arms, and the tensioning assembly drives the rocker arm to rotate toward the inner wall of the pipe so that the drive wheel at the end of the rocker arm is in close contact with the inner wall of the pipe.

5. The pipeline foreign object grabbing robot according to claim 4, characterized in that, The tensioning assembly includes a guide rail, a connecting rod, and an elastic element; the guide rail is disposed on the drive mechanism and extends in the same direction as the rocker arm; the connecting rod is supported between the rocker arm and the guide rail, with a first end connected to the rocker arm and a second end fitted onto the guide rail and movable back and forth along the guide rail; one end of the elastic element is connected to the first end of the connecting rod, and the other end extends away from the guide rail and is connected to the drive mechanism.

6. The pipeline foreign object grabbing robot according to claim 4, wherein, The drive mechanism includes a drive motor and a transmission box. The transmission box is located at the output end of the drive motor. Several rocker arms of the rocker arm unit are distributed at intervals along the outer periphery of the drive motor and are rotatably connected to the transmission box. Each rocker arm is provided with a transmission shaft. One end of the transmission shaft is connected to the transmission component in the transmission box, and the other end is connected to the drive wheel.

7. The pipeline foreign object capturing robot according to claim 6, wherein, The adaptive diameter changing mechanism includes two sets of the rocker arm units, and the drive mechanism includes two transmission boxes; The drive motor is a dual-output motor, and the two transmission boxes are respectively located at the two output ends of the drive motor; the two sets of rocker arm units are arranged facing each other on the drive mechanism and connected to the corresponding transmission boxes, and the rocker arms of the two sets of rocker arm units are staggered.

8. The pipeline foreign object grabbing robot according to claim 6, wherein, The drive motor is provided with a support sleeve on its outer periphery; a plurality of tensioning components are distributed at intervals along the circumference of the support sleeve corresponding to the rocker arm and are disposed on the support sleeve.

9. The pipeline foreign object capturing robot according to any one of claims 1-8, wherein, The pipeline foreign object grasping robot also includes a second connecting pipe and an electrical control compartment; the second connecting pipe is connected between the power vehicle body and the electrical control compartment.

10. The pipeline foreign object capturing robot according to any one of claims 1-8, wherein, The foreign matter grabbing mechanism comprises a foreign matter grabbing tool head and a camera unit carried on the foreign matter grabbing tool head; the foreign matter grabbing tool head is any one of a dust suction tool head, a magnetic attraction tool head, a clamping tool head and a rope sleeving tool head; or, The foreign matter grabbing mechanism is any one of a dust suction mechanism, a magnetic attraction mechanism, a clamping mechanism and a rope sleeving mechanism.

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