Wire drive device for internal inspection of a pipeline

Abstract

The utility model discloses a line drive arrangement for pipeline internal detection, it includes detector, curved obstacle avoidance unit, passive conveying unit, rope, drive unit, the top of curved obstacle avoidance unit is fixed with detector, the bottom of curved obstacle avoidance unit is fixed with passive conveying unit, the bottom of passive conveying unit is fixed with drive unit, and curved obstacle avoidance unit, passive conveying unit coaxial arrangement, the end of curved obstacle avoidance unit is uniformly fixed with a plurality of ropes along its circumferential direction, the tail end of every rope is respectively through the rope through -passage in the inside of passive conveying unit, and is connected with one of the winding wheel of drive unit, the inside of passive conveying unit is uniformly arranged with a plurality of groups of rope limiting pieces along its circumferential direction, and a plurality of groups of rope limiting pieces correspond with a plurality of ropes one -to -one, and the rope through -passage is formed between rope limiting piece and the inner wall of passive conveying unit.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a wire-driven device for internal pipeline inspection. Background Technology

[0002] As a core facility for energy supply, power plants rely heavily on their pipeline systems (such as boiler tubes, steam pipes, coal conveying pipes, flue gas ducts, and circulating water pipes), which function like the "blood vessels" of the human body. The health of these systems directly impacts the safety, efficiency, and lifespan of the power plant. These pipelines endure long-term exposure to high pressure, high temperature, high abrasion, and corrosive media, making them highly susceptible to corrosion thinning, cracks, weld defects, foreign object blockage, and scaling, posing significant safety hazards. Therefore, regular and comprehensive inspection of the pipeline interiors is crucial. Snake-arm robots demonstrate irreplaceable application value in complex scenarios such as pipeline inspection. These robots typically employ cable-driven or motor-driven methods to achieve joint bending and movement, adapting to narrow and irregular working spaces and meeting various precision operation requirements.

[0003] For example, the existing patent (application number 202410534839.7) discloses a snake-arm robot with multi-joint linkage and extensional degrees of freedom: a snake-arm robot with multi-joint linkage and extensional degrees of freedom, which includes a drive device and a snake arm; the snake arm includes a base and three joints with the same structure; the drive device includes a housing, a joint rotation drive module I and a joint extension drive module II; the joint rotation drive module I synchronously controls the bending of the three joints; the joint extension drive module II synchronously controls the extension of the three joints; four motors cooperate to drive the three joints to realize the bending linkage and extension linkage of the three joints.

[0004] The existing technical problems are as follows: The snake arm in the existing patent includes a first joint, a second joint, and a third joint. The first joint, the second joint, and the third joint have the same structure. Each joint includes a sleeve, an end cap, a telescopic rod, a pulley, a universal assembly, and a linear bearing, etc., which makes the structure complex and the maintenance cost high during use. In order to meet the inspection needs of pipelines longer than 10 meters, the existing patent needs to add a certain number of joints. Due to the complexity of the joint structure, the production cost is increased, and the weight of the joints is also increased, which cannot meet the load requirements. Utility Model Content

[0005] The purpose of this invention is to provide a wire drive device for internal pipeline inspection.

[0006] This utility model is implemented by the following technical solution: a line drive device for internal pipeline inspection, which includes a detector, a bending obstacle avoidance unit, a passive conveying unit, a rope, and a drive unit; The detector is fixed to the top of the bending obstacle avoidance unit, the passive conveying unit is fixed to the bottom of the bending obstacle avoidance unit, and the driving unit is fixed to the bottom of the passive conveying unit. The bending obstacle avoidance unit and the passive conveying unit are coaxially arranged. Multiple ropes are evenly fixed to the end of the bending obstacle avoidance unit along its circumference. The end of each rope is connected to one of the winding pulleys of the drive unit through a rope-through channel inside the passive conveying unit. The passive conveying unit has multiple sets of rope limiting members evenly distributed along its circumference inside. Each set of rope limiting members corresponds to a rope, and a rope through-channel is formed between the rope limiting members and the inner wall of the passive conveying unit.

[0007] Furthermore, it also includes an auxiliary delivery pipeline, which is movably sleeved outside the detector, the bending obstacle avoidance unit, and the passive delivery unit.

[0008] Furthermore, the bending obstacle avoidance unit includes multiple guide discs, and a universal assembly is connected between two adjacent guide discs. The universal assembly includes a connecting rod, a universal ball joint, and a ball joint seat. A detector is fixed to the guide disc on the side away from the passive conveying unit. Each of the guide discs is provided with multiple guide holes, and each of the multiple guide holes corresponds to one of the multiple ropes; The rope is movably threaded through the guide holes of multiple guide discs, and the starting end of the rope is fixedly connected to the guide disc on the side away from the passive conveying unit.

[0009] Furthermore, each set of rope limiting components includes multiple wire supports arranged along the length direction of the passive conveying unit; The conductor support includes an arc section, a horizontal section, and a vertical section. The rope is in movable contact with the arc section. The two sides of the arc section are respectively connected to the vertical section through the horizontal section. The vertical section is fixedly connected to the passive conveying unit.

[0010] Furthermore, the passive conveying unit is a flexible tube.

[0011] Furthermore, the outer wall of the flexible tube is provided with several notches that match the conductor support. A retaining ring is provided on the outside of the notch. The retaining ring is fixedly connected to the outer wall of the flexible tube. The two ends of the retaining ring are respectively fixedly connected to the two vertical parts of the conductor support.

[0012] Furthermore, the drive unit includes a housing, a motor, and a winding wheel. Multiple motors are fixed inside the housing, and the winding wheel is fixed to the output end of the motor. Each winding wheel corresponds to a rope.

[0013] The advantages of this invention are: the "rigid-flexible hybrid" characteristics of the bending obstacle avoidance unit and the passive conveying unit work together perfectly. The former is responsible for guiding the direction and making flexible movements, while the latter ensures that the traction force is reliably transmitted and can smoothly bend and follow. This collaborative working mode ensures that the robot does not lose power or get stuck in its movements throughout the entire travel path, achieving smooth passage through long-distance, multi-curved pipelines. Compared with the prior art, the passive conveying unit has a simple structure, low production cost, and low maintenance cost. For the same problem of long-distance pipeline inspection, the bending obstacle avoidance unit and the passive conveying unit are lighter in weight due to their simple structure, which meets the load requirements of the load-bearing device. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a perspective view of the utility model; Figure 2 This is the front view of the utility model; Figure 3 This is a combined structural diagram of the flexible tube, wire support, and retaining ring of this utility model; Figure 4 This is a structural diagram of the combined wire support and retaining ring of this utility model; In the diagram: 1. Bending obstacle avoidance unit, 1.1. Guide plate, 1.1.1. Universal assembly, 1.2. Connecting rod, 1.2.1. Universal ball head, 1.2.2. Ball head seat, 1.2.3. Detector, 2. Rope limiting component, 3.1. Wire support, 3.1. Arc part, 3.1.1. Horizontal part, 3.1.2. Vertical part, 3.1.3. Drive unit, 4. Housing, 4.1. Motor, 4.2. Winding wheel, 4.3. Rope, 5. Rope through channel, 6. Passive conveying unit, 7. Flexible tube, 7.1. Notch, 7.2. Snap ring, 7.3. Auxiliary conveying pipeline, 8. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] like Figure 1-4 As shown, the pipeline internal inspection line drive device includes a bending obstacle avoidance unit 1, a passive conveying unit 7, a rope 5, a drive unit 4, and a detector 2. A detector 2 is fixed at the top of the bending obstacle avoidance unit 1. The detector 2 includes any one or more of an image acquisition device, a detection probe, and a position sensor. A passive conveying unit 7 is fixed at the bottom of the bending obstacle avoidance unit 1. A driving unit 4 is fixed at the bottom of the passive conveying unit 7. The bending obstacle avoidance unit 1 and the passive conveying unit 7 are coaxially arranged. Multiple ropes 5 are evenly fixed at the end of the bending obstacle avoidance unit 1 along its circumference. In this embodiment, three ropes 5 are included.

[0018] The end of each rope 5 is connected to one of the winding wheels 4.3 of the drive unit 4 through the rope passage 6 inside the passive conveying unit 7. Multiple sets of rope limiting members 3 are evenly arranged along the circumference inside the passive conveying unit 7. Each set of rope limiting members 3 corresponds to a rope 5. A rope through channel 6 is formed between the rope limiting members 3 and the inner wall of the passive conveying unit 7.

[0019] The bending obstacle avoidance unit 1 includes multiple guide discs 1.1. A universal assembly 1.2 connects two adjacent guide discs 1.1. The universal assembly 1.2 includes a connecting rod 1.2.1, a universal ball joint 1.2.2, and a ball joint seat 1.2.3. A detector 2 is fixed on the guide disc 1.1 on the side away from the passive conveying unit 7. Each guide disc 1.1 has multiple guide holes 1.1.1, and the multiple guide holes 1.1.1 correspond one-to-one with multiple ropes 5. The ropes 5 are movably inserted into the guide holes 1.1.1 of the multiple guide discs 1.1, and the starting end of the rope 5 is fixedly connected to the guide disc 1.1 on the side away from the passive conveying unit 7.

[0020] Each set of rope limiting components 3 includes multiple wire supports 3.1 arranged along the length direction of the passive conveying unit 7; the wire support 3.1 includes an arc portion 3.1.1, a horizontal portion 3.1.2 and a vertical portion 3.1.3, the rope 5 is in movable contact with the arc portion 3.1.1, and the two sides of the arc portion 3.1.1 are respectively connected to the vertical portion 3.1.3 through the horizontal portion 3.1.2, and the vertical portion 3.1.3 is fixedly connected to the passive conveying unit 7.

[0021] The passive conveying unit 7 is a flexible tube 7.1. The flexible tube 7.1 has a certain degree of flexibility, such as a corrugated pipe. The outer wall of the flexible tube 7.1 has several notches 7.2 that match the conductor support 3.1. A retaining ring 7.3 is provided on the outside of the notch 7.2. The retaining ring 7.3 is fixedly connected to the outer wall of the flexible tube 7.1. The two ends of the retaining ring 7.3 are fixedly connected to the two vertical parts 3.1.3 of the conductor support 3.1, respectively.

[0022] The drive unit 4 includes a housing 4.1, a motor 4.2, and a winding wheel 4.3. Multiple motors 4.2 are fixed inside the housing 4.1, and winding wheels 4.3 are fixed at the output end of the motors 4.2. The winding wheels 4.3 correspond one-to-one with the ropes 5.

[0023] It also includes an auxiliary transmission pipeline 8, which is a flexible pipe, specifically a corrugated pipe, and is movably sleeved on the outside of the detector 2, the bending obstacle avoidance unit 1 and the passive conveying unit 7.

[0024] With its multi-degree-of-freedom joints in the universal joint 1.2, the bending obstacle avoidance unit 1 can adjust its body posture like a "bionic snake" using the drive unit 4 to conform to the contour of the inner wall of the pipe, achieving "head-up" and "twisting" movements. This allows the drive unit 4 to be smoothly lifted and pass over obstacles, rather than collided with them. This "lifting and walking" motion ensures that the obstacle-crossing process is smooth, efficient, and damage-free to both the robot and the pipe, improving the flexibility of the active obstacle avoidance module. It can easily pass through complex geometric structures such as sharp bends, multi-way pipes, and variable diameter sections that are difficult for traditional robots to overcome, effectively avoiding jamming, stranding, or interference with the pipe wall. With the help of the auxiliary conveying pipeline 8, the bending obstacle avoidance unit 1 is not affected by common obstacles in pipes such as welds, deposits, and rust protrusions. The "rigid-flexible hybrid" characteristics of the bending obstacle avoidance unit 1 and the passive conveying unit 7 work together perfectly. The former guides the direction and makes flexible movements, while the latter ensures that the traction force is reliably transmitted and can smoothly bend and follow. This collaborative working mode ensures that the robot's power is not lost and its movements are not hindered throughout the entire travel path, enabling smooth passage through long-distance, multi-curved pipelines. Through its active obstacle avoidance module, the robot's pipeline passability has been elevated from "whether it can enter" to a higher level of "whether it can pass unimpeded," providing unprecedented feasibility and reliability for the internal inspection of complex pipeline systems in power plants.

[0025] The specific operation process of this embodiment is as follows: First, the auxiliary conveying pipeline 8 is placed inside the pipe to act as a channel, allowing the subsequent inspection robot to directly reach the designated inspection position along the channel. Then, using the carrying robot, the device is gradually sent into the pipe. After entering the pipe, the motor 4.2 of the drive unit 4 is adjusted according to the pipe's curvature to drive the winding wheel 4.3 to rotate, pulling the rope 5 at the corresponding position. When subjected to tension on different sides, the robotic arm can achieve an S-shaped bend, improving its obstacle avoidance capability. This enables the bending obstacle avoidance unit 1 to bend. The bending obstacle avoidance unit 1 then drives the passive conveying unit 7 to bend, allowing the device to move towards the designated inspection position until the detector 2 reaches the inspection position. The detector 2 is then used to inspect the inside of the pipe.

[0026] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A wire-driven device for internal pipeline inspection, characterized in that, It includes a detector, a bending obstacle avoidance unit, a passive conveying unit, a rope, and a drive unit; The detector is fixed to the top of the bending obstacle avoidance unit, the passive conveying unit is fixed to the bottom of the bending obstacle avoidance unit, and the driving unit is fixed to the bottom of the passive conveying unit. The bending obstacle avoidance unit and the passive conveying unit are coaxially arranged. Multiple ropes are evenly fixed to the end of the bending obstacle avoidance unit along its circumference. The end of each rope is connected to one of the winding pulleys of the drive unit through a rope-through channel inside the passive conveying unit. The passive conveying unit has multiple sets of rope limiting members evenly distributed along its circumference inside. Each set of rope limiting members corresponds to a rope, and a rope through-channel is formed between the rope limiting members and the inner wall of the passive conveying unit.

2. The wire-driven device for internal pipeline inspection according to claim 1, characterized in that, It also includes an auxiliary delivery pipeline, which is movably sleeved outside the detector, the bending obstacle avoidance unit, and the passive delivery unit.

3. The wire-driven device for internal pipeline inspection according to claim 2, characterized in that, The bending obstacle avoidance unit includes multiple guide discs, and a universal assembly is connected between two adjacent guide discs. The universal assembly includes a connecting rod, a universal ball joint, and a ball joint seat. A detector is fixed to the guide disc on the side away from the passive conveying unit. Each of the guide discs is provided with multiple guide holes, and each of the multiple guide holes corresponds to one of the multiple ropes; The rope is movably threaded through the guide holes of multiple guide discs, and the starting end of the rope is fixedly connected to the guide disc on the side away from the passive conveying unit.

4. The wire drive device for internal pipeline inspection according to claim 3, characterized in that, Each set of rope limiting components includes multiple wire supports arranged along the length direction of the passive conveying unit; The conductor support includes an arc section, a horizontal section, and a vertical section. The rope is in movable contact with the arc section. The two sides of the arc section are respectively connected to the vertical section through the horizontal section. The vertical section is fixedly connected to the passive conveying unit.

5. The wire-driven device for internal pipeline inspection according to claim 4, characterized in that, The passive conveying unit is a flexible tube.

6. The wire-driven device for internal pipeline inspection according to claim 5, characterized in that, The outer wall of the flexible tube has several notches that match the conductor support. A retaining ring is provided on the outside of the notch. The retaining ring is fixedly connected to the outer wall of the flexible tube. The two ends of the retaining ring are fixedly connected to the two vertical parts of the conductor support, respectively.

7. The wire-driven device for internal pipeline inspection according to claim 6, characterized in that, The drive unit includes a housing, a motor, and a winding wheel. Multiple motors are fixed inside the housing, and the winding wheel is fixed to the output end of the motor. Each winding wheel corresponds to a rope.

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