CN109737266B - Screw propulsion device of pipeline inspection robot - Google Patents
Screw propulsion device of pipeline inspection robot Download PDFInfo
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- CN109737266B CN109737266B CN201910086351.1A CN201910086351A CN109737266B CN 109737266 B CN109737266 B CN 109737266B CN 201910086351 A CN201910086351 A CN 201910086351A CN 109737266 B CN109737266 B CN 109737266B
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Abstract
The invention relates to a spiral propulsion device of a pipeline inspection robot, which comprises a plurality of spiral propulsion cabins, a driving mechanism and a steering mechanism, wherein spiral teeth are arranged on the outer sides of the spiral propulsion cabins, and the spiral propulsion cabins are connected through the steering cabin; the side wall of the steering cabin is provided with a rubber expansion ring; the steering mechanism comprises a plurality of direction control rods arranged along the axial direction of the spiral propulsion device and a bracket fixed on the inner wall of the spiral propulsion cabin, and two ends of the direction control rods are movably connected with the bracket; the middle of the direction control rod is connected with a steering motor and a telescopic device controlled by the steering motor to stretch; the driving mechanism comprises a main power motor arranged in the steering cabin, a main rotating shaft connected with a transmission shaft of the main power motor and a power rotating wheel connected with the main rotating shaft, and the power rotating wheel is arranged in the spiral propulsion cabin and drives the spiral teeth to rotate; the main rotating shaft is provided with a power rod steering gear. Compared with the prior art, the invention has the advantages of wide application range, easy operation, convenient measurement and the like.
Description
Technical Field
The invention relates to the technical field of pipeline inspection robots, in particular to a spiral propulsion device of a pipeline inspection robot.
Background
During production and life, underground pipelines are often used to transport raw materials and waste water containing hazardous components, which pipelines, in particular sewage pipelines, contribute to the protection of the environment. However, because of maintenance and construction quality problems, leakage often occurs, and because it is sometimes difficult to find out that it is buried in the ground, pollution is often brought to soil along the line and groundwater environment, so investigation of leakage of underground pipelines has been urgent for environmental protection departments.
The underground pipeline detection is a difficult problem, no fully mature detection method exists in the world at present, the field excavation and chemical exploration are mainly adopted for investigation before retrieval, the newly developed detection technology comprises a natural potential method and a ground penetrating radar, but for underground pipelines with longer distribution, a great deal of work is required to be arranged, huge funds are consumed, and the working period is long, so that a robot device capable of working under different environments such as silt or water flow and used for detecting the underground pipeline and river silt is needed.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a screw propulsion device of a pipeline inspection robot.
The aim of the invention can be achieved by the following technical scheme:
the spiral propulsion device of the pipeline inspection robot comprises a plurality of spiral propulsion cabins, a driving mechanism and a steering mechanism, wherein spiral teeth are arranged on the outer sides of the spiral propulsion cabins,
the spiral propulsion cabins are connected through a steering cabin; the tail part of the spiral propelling cabin positioned at the tail part is sealed by a tail cabin sealing plate; the side wall of the steering cabin is provided with a rubber expansion ring;
the steering mechanism comprises a plurality of direction control rods arranged along the axial direction of the spiral propulsion device and a bracket fixed on the inner wall of the spiral propulsion cabin, and two ends of each direction control rod are movably connected with the bracket; the middle of the direction control rod is connected with a steering motor and a telescopic device controlled by the steering motor to stretch;
the driving mechanism comprises a main power motor, a main rotating shaft and a power rotating wheel, wherein the main power motor is arranged in the steering cabin, the main rotating shaft is connected with a transmission shaft of the main power motor, the power rotating wheel is connected with the main rotating shaft, and the power rotating wheel is arranged in the spiral propulsion cabin and drives the spiral teeth to rotate; and the main rotating shaft is provided with a power rod steering gear.
The power rod steering gear comprises a rigid spring, a connecting rod, an inner ring ball and an outer ring ball; two connecting rods are arranged in the middle of the main rotating shaft and are connected with an outer ring ball through an inner ring ball, the inner ring ball is arranged in the outer ring ball, and an opening is formed in one side, far away from the connecting rods, of the outer ring ball; and two ends of the rigid spring are respectively connected with the main rotating shaft.
The bracket is fixedly arranged at the end part of the spiral propulsion cabin; the three direction control rods are distributed in the spiral propelling device in a regular triangle.
The steering principle of the invention is as follows:
the length of a telescopic control direction control rod of the telescopic device is controlled by controlling the steering motor; the expansion and contraction of the direction control rod generates pushing force or pulling force on the support, so that the support rotates by taking the connection point of the support on the spiral pushing cabin as the circle center, the support is fixedly connected with the spiral pushing cabin, the side wall of the spiral pushing cabin is kept vertical to the support, and the rotation of the support drives the direction of the spiral pushing cabin to change, so that the steering and adjustment of the advancing direction are realized.
The side wall of the steering cabin is provided with a plurality of variable wing sweeping mechanisms, and each variable wing sweeping mechanism comprises a fixed wing, a movable wing front, a wing motor and a telescopic rod controlled by the wing motor to stretch out and draw back; the fixed wings and the movable wing flaps are of triangular structures, and the fixed wings are fixedly connected to the outer side wall of the steering cabin; a turning point is arranged at one vertex of the fixed wing, and one vertex of the movable wing front is rotationally connected to the turning point; the wing motor is fixedly connected to the inner wall of the steering cabin, one end of the telescopic rod is connected with the output end of the wing motor, and the other end of the telescopic rod is movably connected with the movable wing fly.
The variable wing sweeping mechanisms are provided with two sets and are symmetrically arranged on the side wall of the steering cabin; the variable wing sweeping mechanism comprises two fixed wings, the movable wing fly is arranged between the two fixed wings, and the movable wing fly is connected with the fixed wings through rubber sealing strips.
The telescopic device and the telescopic rod are telescopic mechanisms formed by an inner screw rod and an outer screw rod, and the outer threads of the inner screw rod are matched with the inner threads of the outer screw rod.
A screw tooth power ring is arranged between the side wall of the screw propulsion cabin and the screw teeth, and the screw tooth power ring is rotationally connected with the outer side of the side wall of the screw propulsion cabin; the power rotating wheel is in threaded connection with the screw tooth power ring; the screw tooth power ring is in threaded connection with the screw tooth.
The invention can also be applied to water, and comprises a tail propulsion cabin connected with the spiral propulsion cabin positioned at the tail; a tail motor is arranged in the spiral propulsion cabin at the tail part, and a transmission shaft of the tail motor penetrates through the tail cabin sealing plate to be connected with a power tail wing arranged in the tail propulsion cabin; and a filter screen is arranged at the tail part of the end part of the tail propulsion cabin.
The four spiral propulsion cabins are respectively a first spiral propulsion cabin, a second spiral propulsion cabin, a third spiral propulsion cabin and a fourth spiral propulsion cabin; the steering cabins are three, namely a first steering cabin, a second steering cabin and a third steering cabin; the first steering cabin and the third steering cabin are internally provided with driving mechanisms, and two ends of the driving mechanisms are respectively connected with the spiral propulsion cabin through sealing rings; the first spiral propulsion cabin is connected with the pipeline inspection robot, and a cabin partition board is arranged between the first spiral propulsion cabin and the pipeline inspection robot; and a cabin partition plate is arranged between the second steering cabin and the third spiral propulsion cabin.
In order to realize information exchange between the inspection robot and ground operators, the invention provides two data transmission modes: the spiral propulsion device is connected with the receiver through a set control cable or a wireless transmission and pipeline inspection robot signal;
specifically, an external interface is arranged on the tail propulsion cabin, and the control cable extends into the spiral propulsion device from the external interface and is fixedly connected with the external interface; the control cable is connected with the pipeline inspection robot;
or,
the inside of the spiral propulsion cabin or the steering cabin is provided with a wireless transmission and receiver and a power supply for supplying power to the pipeline inspection robot, and the wireless transmission and receiver is in signal connection with the pipeline inspection robot.
Compared with the prior art, the invention has the following advantages:
(1) When the pipeline inspection robot provided with the propelling mechanism performs pipeline or silt inspection operation, the propelling mechanism and the pipeline inspection robot are lowered into a pipeline inspection well or river bottom silt by using a control cable, a starting instruction is transmitted to the propelling mechanism through the control cable or wireless transmission and a receiver, a power supply supplies power to a main power motor, the main power motor is started, a screw tooth power ring drives a screw tooth to rotate, the inspection robot is pushed to move forwards, the steering motor controls the steering of the inspection robot, the condition in the pipeline or silt is detected by the inspection robot, and then a signal is transmitted to the ground through the control cable or wireless transmission and the receiver for use.
(2) The movable wing fly of the variable wing skimming mechanism is contracted into the fixed wing by the wing motor, when the inspection robot moves in water, the main power motor drives the spiral teeth to rotate, meanwhile, the tail motor provides forward power for the robot device, and the movable wing fly of the variable wing skimming mechanism is outwards unfolded from the fixed wing by the wing motor to increase the balance capacity of the robot device.
Drawings
FIG. 1 is a schematic diagram of the main structure of the present invention;
FIG. 2 is a schematic view of the structure of the screw propulsion cabin of the present invention;
FIG. 3 is a schematic view of the first steering compartment of the present invention;
FIG. 4 is a schematic illustration of a power lever steering gear according to the present invention;
FIG. 5 is a schematic diagram of the steering principle in the present invention;
FIG. 6 is a schematic structural view of a variable sweep mechanism of the present invention;
FIG. 7 is a schematic view of a telescopic rod according to the present invention;
FIG. 8 is a schematic view of the aft propulsion pod of the present disclosure;
in the drawing the view of the figure, the machine comprises a first spiral propulsion cabin 1, a second spiral propulsion cabin 3, a second steering cabin 4, a third spiral propulsion cabin 5, a third steering cabin 6, a fourth spiral propulsion cabin 7, a tail propulsion cabin 8, a fixed wing 9, a movable wing 10, an anchor point 11, an inner screw 12, a telescopic rod 13, an outer screw 14, a wing motor 15, a cabin partition 16, a helical tooth 17, a helical tooth power ring 18, a cabin inner wall 19, a power supply 20, a direction control rod 21, a power rotating wheel 22, a sealing ring 23, a steering motor 24, a power rod steering device 25, a main rotating shaft 26, a telescopic device 27, a main power motor 28, a tail motor 29, a transmission shaft 30, a power tail wing 31, a tail cabin 32, a sealing plate 33, an inner ring ball 34, a connecting rod 35, a spring 36, an outer ring ball 37, a screw 38, a bracket 39, a rubber expansion ring 40, an outer interface 41, a control cable 42, a control cable 43, a wireless transmission line 44, a sealing ring 47, a seal ring 47, a wireless transmission line 46, a machine seal 47 and a machine seal ring 48.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
Example 1
The device of the embodiment is particularly suitable for checking silt pipelines, and has the overall structure shown in figure 1, and comprises a plurality of spiral propulsion cabins 1, a driving mechanism and a steering mechanism, wherein the specific structure comprises a first spiral propulsion cabin 2, a second spiral propulsion cabin 3, a second steering cabin 4, a third spiral propulsion cabin 5, a third steering cabin 6, a fourth spiral propulsion cabin 7 and a tail propulsion cabin 8 which are sequentially connected; and the first screw propulsion cabin 1, the second screw propulsion cabin 3, the third screw propulsion cabin 5 and the fourth screw propulsion cabin 7 are identical in structure, and the first steering cabin 2 and the third steering cabin 6 are identical in structure.
A cabin partition plate 16 is arranged between a first spiral propulsion cabin 1 and a pipeline inspection robot 48, as shown in fig. 2, a spiral tooth power ring 18 is arranged on the outer side of a cabin inner wall 19 of the first spiral propulsion cabin 1, teeth 46 are arranged on the inner side and the outer side of the spiral tooth power ring 18, a circle of spiral teeth 17 is arranged on the outer side of the spiral tooth power ring 18, the teeth 46 on the inner side of the spiral teeth 17 are completely matched with the teeth 46 on the outer side of the spiral tooth power ring 18, a power rotating wheel 22 is arranged on one side, far from the cabin partition plate 16, of the first spiral propulsion cabin 1, is completely matched with the teeth 46 on the inner side of the spiral tooth power ring 18, a first steering cabin 2 is arranged on one side, far from the pipeline inspection robot 48, of the power rotating wheel 22 is driven to rotate under the action of the teeth 46, and then the spiral teeth 17 are driven to rotate in sludge, and movement of a robot device is achieved. The first spiral propulsion cabin 1 and the first steering cabin 2 are in sealing connection through a sealing ring 23, a second spiral propulsion cabin 3 is arranged on one side, far away from the first spiral propulsion cabin 1, of the first steering cabin 2, the second spiral propulsion cabin 3 and the first steering cabin 2 are in sealing connection through the sealing ring 23, a main power motor 28 is fixedly arranged in the first steering cabin 2, a power rod steering gear 25 is arranged in the middle of a main rotating shaft 26 of the main power motor 28, the other end, far away from the main power motor 28, of the main rotating shaft 26 is connected with a central shaft of a power rotating wheel 22 in the first spiral propulsion cabin 1, the main rotating shaft 26 of the main power motor 28 is connected with the central shaft of the power rotating wheel 22 in the second spiral propulsion cabin 3 through the power rod steering gear 25, the rotation of the main power motor 28 drives the first spiral propulsion cabin 1 and the power rotating wheel 22 in the first spiral propulsion cabin 3 at the same time through the main rotating shaft 26, and further drives spiral teeth 17 on the outer sides of the first spiral propulsion cabin 1 and the first spiral propulsion cabin 3 to rotate in sludge, and movement of a robot device is achieved as shown in fig. 3.
The steering mechanism comprises a plurality of direction control rods 21 arranged along the axial direction of the spiral propulsion device and a bracket 39 fixed on the inner wall of the spiral propulsion cabin, and two ends of each direction control rod are movably connected with the bracket 39; the middle of the direction control rod 21 is connected with a steering motor 24 and a telescopic device 27 controlled to stretch by the steering motor 24, specifically, six brackets 39 are respectively arranged on the inner walls 19 of the first spiral propulsion cabin 1 and the second spiral propulsion cabin 3 at two sides of the first steering cabin 2, the brackets 39 are opposite to each other, the central angle between every two adjacent pairs of brackets on the inner walls 19 is 60 degrees, the direction control rod 21 is arranged on the bracket 39 on the first spiral propulsion cabin 1, the steering motor 24 is arranged on the other end of the direction control rod 21, the telescopic device 27 is arranged on the other end of the steering motor 24, and the other end of the telescopic device 27 is connected with the brackets 39 on the second spiral propulsion cabin 3 through the direction control rod 21. Six brackets 39 are respectively arranged on the inner walls 19 of the second spiral propulsion cabin 3 and the third spiral propulsion cabin 5 at two sides of the second steering cabin 4, the central angles between two adjacent brackets 39 on the inner wall 19 are 60 degrees, the brackets 39 are opposite to each other, a direction control rod 21 is arranged on the bracket 39 of the second spiral propulsion cabin 3, a steering motor 24 is arranged at the other end of the direction control rod 21, a telescopic device 27 is arranged at the other end of the steering motor 24, the other end of the telescopic device 27 is connected with the brackets 39 on the third spiral propulsion cabin 5 through the direction control rod 21, the inner wall 19 of the second steering cabin 4 adopts an elastic rubber expansion ring 40, a cabin partition 16 is arranged between the third spiral propulsion cabin 5 and the second steering cabin 4, one side of the third spiral propulsion cabin 5 away from the pipeline inspection robot 48 is provided with a third steering cabin 6, the third screw propulsion cabin 5 and the third steering cabin 6 are in sealing connection by a sealing ring 23, a fourth screw propulsion cabin 7 is arranged on one side of the third steering cabin 6 far away from the third screw propulsion cabin 5, the fourth screw propulsion cabin 7 and the third steering cabin 6 are in sealing connection by the sealing ring 23, a main power motor 28 is fixedly arranged in the third steering cabin 6, a power rod steering gear 25 is arranged in the middle of a main rotating shaft 26 of the main power motor 28, the other end of the main rotating shaft 26 far away from the main power motor 28 is connected with a central shaft of the power rotating wheel 22 in the third screw propulsion cabin 5, the main rotating shaft 26 at the other end of the main power motor 28 is connected with the central shaft of the power rotating wheel 22 in the fourth screw propulsion cabin 7 by the power rod steering gear 25, six brackets 39 are respectively arranged on the third screw propulsion cabin 5 at two sides of the third steering cabin 6 and the inner wall 19 of the fourth screw propulsion cabin 7, the central angle between two adjacent brackets 39 on the cabin inner wall 19 is 60 degrees, the brackets 39 are opposite to each other, a steering motor 24 is arranged on the other end of the steering motor 21, a telescopic device 27 is arranged on the other end of the steering motor 24, the other end of the telescopic device 27 is connected with the brackets 39 through the steering motor 21, a tail motor 29 is arranged at the tail of the fourth spiral propulsion cabin 7, the tail of the fourth spiral propulsion cabin 7 is subjected to sealing treatment through a tail cabin sealing plate 32, and a transmission shaft 30 of the tail motor 29 passes through the tail cabin sealing plate 32 and is subjected to sealing treatment through a rubber sealing ring 47.
The power rod steering gear 25 in the driving mechanism is composed of a main rotating shaft 26, an inner ring ball 34, a connecting rod 35, a spring 36 and an outer ring ball 37, as shown in fig. 4, two connecting rods 35 are arranged in the middle of the main rotating shaft 26, the two connecting rods 35 are connected with the outer ring ball 37 in a buckling manner through the inner ring ball 34, an opening is arranged on one side, far away from the connecting rod 35, of the outer ring ball 37, the inner ring ball 34 is placed in the outer ring ball 37, a rigid spring 36 is rigidly arranged on the main rotating shaft 26, the steering transmission power of the main rotating shaft 26 can be realized through the power rod steering gear 25 arranged in the middle of the main rotating shaft 26, and when the spiral propulsion cabin is steered, the main rotating shaft 26 can also steer, and provides a rotating driving force for the spiral propulsion cabin.
The steering principle of the invention is shown in figure 5, the side wall of the steering cabin is an elastic rubber expansion ring 40, a plurality of direction control rods 21 are arranged in the spiral propulsion device along the axial direction of the spiral propulsion device, two ends of each direction control rod 21 are connected to the inner wall of the adjacent spiral propulsion cabin through a bracket 39, and the brackets 39 are positioned at the end parts of the spiral propulsion cabin; a steering motor 24 and a telescopic device 27 controlled to stretch by the steering motor 24 are connected to the middle of the steering lever 21; the length of the telescopic control direction control rod of the telescopic device is controlled by controlling the steering motor 24; the expansion and contraction of the direction control rod 21 generates pushing force or pulling force on the support 39, so that the support 39 rotates by taking the connection point of the support 39 on the spiral pushing cabin as the circle center, the support 39 is fixedly connected with the spiral pushing cabin, the side wall of the spiral pushing cabin is kept vertical to the support 39, and the rotation of the support 39 drives the direction of the spiral pushing cabin to change, so that the steering and adjustment of the advancing direction are realized.
In order to keep balance in the moving process of the device, two variable sweep wing mechanisms are rigidly arranged on the outer sides of the inner walls 19 of the first steering cabin 2, the second steering cabin 4 and the third steering cabin 6, the specific structure of the variable sweep wing mechanisms is shown in figure 6, the variable sweep wing mechanisms are composed of fixed wings 9, movable wing flaps 10, anchor points 11, inner screw rods 12, telescopic rods 13, outer screw rods 14, wing motors 15, turning points 44 and sealing strips 45, wherein the fixed wings 9 are fixed on the inner walls 19 of the steering cabin, the fixed wings 9 are triangular, a turning point 44 is arranged on the top points of the triangular fixed wings 9, a movable wing flap 10 is arranged between the two triangular fixed wings 9, the top points of the movable wing flaps 10 are connected with the turning point 44, the movable wing flaps 10 can freely rotate around the turning point 44, A rubber sealing strip 45 is arranged between two triangular fixed wings 9 and a movable wing front 10, an anchor point 11 is arranged on the movable wing front 10, an inner screw rod 12 is arranged on the anchor point 11, a telescopic rod 13 is arranged at the other end of the inner screw rod 12, an outer screw rod 14 is arranged at the other end of the telescopic rod 13, a wing motor 15 is arranged at the other end of the outer screw rod 14, the wing motor 15 is fixed on the inner wall 19 of a cabin, in order to enable the fixed wings 9 not to influence the expansion and contraction of a steering cabin, the size of the fixed wings 9 is small compared with that of the steering cabin, the contact part of the fixed wings 9 not to influence the physical properties of the steering cabin, the shape of the missile is similar to that of a tail wing and an elastomer, the inner wall of the steering cabin is elastic, and the elastic inner walls of the cabin can meet the expansion and contraction amount required in the steering process.
The telescopic principle of the telescopic device 27 in the steering mechanism is the same as that of the telescopic rod 13 in the variable wing sweeping mechanism, and the structure of the telescopic rod 13 is taken as an example, as shown in fig. 7; the telescopic rod 13 consists of an inner screw rod 12, an outer screw rod 14 and threads 38, wherein the threads 38 are arranged on the outer side of the inner screw rod 12, the threads 38 are arranged on the inner side of the outer screw rod 14, the threads 38 on the outer side of the inner screw rod 12 are exactly matched with the threads on the inner side of the outer screw rod 14, the wing motor 15 is connected with the outer screw rod 14 to drive the outer screw rod 14 to rotate, and the threaded connection length of the inner screw rod 12 and the outer screw rod 14 is adjusted, so that telescopic adjustment is achieved.
In order to realize the information exchange between the pipeline inspection robot 48 and the ground operator, in this embodiment, the detection data of the pipeline inspection robot 48 are obtained through wireless signals, and a power supply 20 and three wireless transmission and receiving devices 43 are respectively installed in the first screw propulsion cabin 1, the second screw propulsion cabin 3 and the second steering cabin 4, so as to supply power to and transmit wireless control signals to the pipeline inspection robot 48.
In this embodiment, when the pipeline inspection robot 48 equipped with the propulsion device performs pipeline or silt inspection operation, the propulsion device and the pipeline inspection robot 48 device are lowered into the pipeline inspection well or river bottom silt by using the control cable 42, a start instruction is transmitted to the propulsion mechanism and the pipeline inspection robot 48 by the control cable 42, the main power motor 28 is started, the spiral teeth 17 are driven to rotate by the spiral teeth power ring 18, the pipeline inspection robot 48 is pushed to move forward, the steering of the pipeline inspection robot 48 is controlled by the steering motor 24, the condition in the pipeline or silt is detected by the pipeline inspection robot 48, then the signal is transmitted to the ground by the wireless transmission and the receiver 43 for use, the movable wing sweeping mechanism plays a role of fixing the pipeline inspection robot 48 in the silt, preventing the pipeline inspection robot 48 from rolling, and when the pipeline inspection robot 48 moves in the silt, the main power motor 28 drives the spiral teeth 17 to rotate to provide forward power for the pipeline inspection robot 48, and the movable wing 10 of the movable wing sweeping wing mechanism is contracted into the inside of the fixed wing 9 by the wing motor 15 for reducing forward resistance. When the pipe or sludge inspection operation by the pipe inspection robot 48 is completed, the robot device is recovered to the ground, and cleaned and stored for reuse.
Example 2
The spiral propulsion device of the pipeline inspection robot is particularly suitable for inspecting pipelines for conveying water, and the main structure of the device is the same as that of the embodiment 1, except that a tail propulsion cabin 8 is arranged behind a fourth spiral propulsion cabin 7, as shown in fig. 8, a power tail 31 is arranged on a transmission shaft in the tail propulsion cabin 8, the power tail 31 is composed of three blades, and a filter screen 33 is arranged at the tail of the tail propulsion cabin 8.
In this embodiment, the information communication manner between the pipeline inspection robot 48 and the ground operator is different from the wireless signal communication in embodiment 1, an external interface 41 is disposed at the outer side of the tail propulsion cabin 8 in this embodiment, a control cable 42 composed of a steel wire and a cable is rigidly mounted on the external interface 41, the cable of the control cable 42 is wrapped inside the flexible steel wire, the control cable 42 can be freely bent or wound, and is used for supplying power to the pipeline inspection robot 48, transmitting and receiving control signals through the outside, and in an emergency, the control cable 42 can also have the function of towing the pipeline inspection robot 48.
When the pipeline inspection robot 48 moves in water, the main power motor 28 drives the spiral teeth 17 to rotate, the tail motor 29 drives the power tail wing 31 to rotate, meanwhile, forward power is provided for the pipeline inspection robot 48 device, and the movable wing flap 10 of the variable wing sweeping mechanism is unfolded outwards from the fixed wing 9 through the wing motor 15 in order to increase the balance capacity of the pipeline inspection robot 48 device. When the pipe inspection operation of the pipe inspection robot 48 is completed, the robot device is recovered to the ground through the control cable 42, and is cleaned and stored for reuse.
The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the claims without affecting the spirit of the invention.
Claims (5)
1. The spiral propulsion device of the pipeline inspection robot comprises a plurality of spiral propulsion cabins, a driving mechanism and a steering mechanism, wherein spiral teeth (17) are arranged on the outer sides of the spiral propulsion cabins,
the spiral propulsion cabins are connected through a steering cabin; the tail part of the spiral propelling cabin at the tail part is sealed by a tail cabin sealing plate (32), and the side wall of the steering cabin is provided with a rubber expansion ring (40);
the steering mechanism comprises a plurality of direction control rods (21) arranged along the axial direction of the spiral propulsion device and a bracket (39) fixed on the inner wall of the spiral propulsion cabin, and two ends of the direction control rods (21) are movably connected with the bracket (39); a steering motor (24) and a telescopic device (27) controlled by the steering motor to stretch and retract are connected to the middle of the direction control rod (21);
the driving mechanism comprises a main power motor (28) arranged in the steering cabin, a main rotating shaft (26) connected with a transmission shaft of the main power motor (28) and a power rotating wheel (22) connected with the main rotating shaft (26), wherein the power rotating wheel (22) is arranged in the spiral propulsion cabin and drives the spiral teeth (17) to rotate; the main rotating shaft (26) is provided with a power rod steering gear (25);
the power rod steering gear (25) comprises a rigid spring (36), a connecting rod (35), an inner ring ball (34) and an outer ring ball (37); the two connecting rods (35) are respectively connected with the main rotating shaft (26), the two connecting rods (35) are connected with the outer ring ball (37) in a buckling way through the inner ring ball (34), the inner ring ball (34) is arranged in the outer ring ball (37), and an opening is formed in one side, far away from the connecting rods (35), of the outer ring ball (37); both ends of the rigid spring (36) are respectively connected with the main rotating shaft (26);
the side wall of the steering cabin is provided with a plurality of variable wing sweeping mechanisms, and each variable wing sweeping mechanism comprises a fixed wing (9), a movable wing front (10), a wing motor (15) and a telescopic rod (13) controlled by the wing motor to stretch out and draw back; the fixed wings (9) and the movable wing flaps (10) are of triangular structures, and the fixed wings (9) are fixedly connected to the outer side wall of the steering cabin; a turning point (44) is arranged at one vertex of the fixed wing (9), and one vertex of the movable wing front (10) is rotatably connected to the turning point (44); the wing motor (15) is fixedly connected to the inner wall of the steering cabin, one end of the telescopic rod (13) is connected with the output end of the wing motor (15), and the other end of the telescopic rod (13) is movably connected with the movable wing front (10);
the variable wing sweeping mechanisms are provided with two sets and are symmetrically arranged on the side wall of the steering cabin; the variable wing sweeping mechanism comprises two fixed wings (9), the movable wing front (10) is arranged between the two fixed wings (9), and the movable wing front (10) is connected with the fixed wings (9) through rubber sealing strips (45);
the telescopic device (27) and the telescopic rod (13) are telescopic mechanisms formed by an inner screw and an outer screw, and the outer threads of the inner screw are matched with the inner threads of the outer screw;
a screw tooth power ring (18) is arranged between the side wall of the screw propulsion cabin and the screw teeth (17), and the screw tooth power ring (18) is rotationally connected with the outer side of the side wall of the screw propulsion cabin; the power rotating wheel (22) is in threaded connection with the screw tooth power ring (18); the screw tooth power ring (18) is in threaded connection with the screw tooth (17).
2. A screw propulsion device of a pipeline inspection robot according to claim 1, characterized in that the bracket (39) is fixedly mounted to the end of the screw propulsion cabin; the three direction control rods are distributed in the spiral propelling device in a regular triangle.
3. A screw propulsion device of a pipeline inspection robot according to claim 1, characterized by further comprising a tail propulsion cabin (8) connected with the screw propulsion cabin at the tail, wherein a tail motor (29) is arranged in the tail propulsion cabin, and a transmission shaft (30) of the tail motor (29) is connected with a power tail wing (31) arranged inside the tail propulsion cabin (8) through the tail cabin sealing plate (32); a filter screen (33) is arranged at the tail part of the end part of the tail propulsion cabin (8).
4. A screw propulsion device of a pipeline inspection robot according to claim 3, characterized in that the screw propulsion tanks are provided with four screw propulsion tanks, a first screw propulsion tank (1), a second screw propulsion tank (3), a third screw propulsion tank (5) and a fourth screw propulsion tank (7), respectively; the steering cabins are three, namely a first steering cabin (2), a second steering cabin (4) and a third steering cabin (6); a driving mechanism is arranged in the first steering cabin (2) and the third steering cabin (6), and two ends of the driving mechanism are respectively connected with the spiral propulsion cabin through sealing rings (23); the first spiral propulsion cabin (1) is connected with the pipeline inspection robot (48), and a cabin partition board is arranged between the first spiral propulsion cabin and the pipeline inspection robot; a cabin partition board is arranged between the second steering cabin (4) and the third spiral propulsion cabin (5).
5. The screw propulsion device of a pipeline inspection robot according to claim 4, characterized in that the screw propulsion device is in signal connection with the pipeline inspection robot (48) by arranging control cables (42) or wireless transmission and receivers (43); an outer interface (41) is arranged on the tail propulsion cabin, and the control cable (42) extends into the spiral propulsion device from the outer interface (41) and is fixedly connected with the outer interface (41); the control cable (42) is connected with a pipeline inspection robot (48); or, a wireless transmission and receiver (43) and a power supply (20) for supplying power to the pipeline inspection robot (48) are arranged in the spiral propulsion cabin or the steering cabin, and the wireless transmission and receiver (43) is in signal connection with the pipeline inspection robot (48).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086351.1A CN109737266B (en) | 2019-01-29 | 2019-01-29 | Screw propulsion device of pipeline inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910086351.1A CN109737266B (en) | 2019-01-29 | 2019-01-29 | Screw propulsion device of pipeline inspection robot |
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| CN109737266A CN109737266A (en) | 2019-05-10 |
| CN109737266B true CN109737266B (en) | 2024-02-23 |
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| CN202252615U (en) * | 2011-10-21 | 2012-05-30 | 宁波力匠机械制造有限公司 | Creeping type robot for pipeline inspection |
| CN103672290A (en) * | 2013-12-11 | 2014-03-26 | 电子科技大学 | All-wheel-drive squirming-type pipe robot |
| DE102016106253B3 (en) * | 2016-04-06 | 2017-06-01 | Konrad Farys | Ventilation pipe cleaner |
| CN209876297U (en) * | 2019-01-29 | 2019-12-31 | 同济大学 | Spiral propelling device of pipeline inspection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202252615U (en) * | 2011-10-21 | 2012-05-30 | 宁波力匠机械制造有限公司 | Creeping type robot for pipeline inspection |
| CN103672290A (en) * | 2013-12-11 | 2014-03-26 | 电子科技大学 | All-wheel-drive squirming-type pipe robot |
| DE102016106253B3 (en) * | 2016-04-06 | 2017-06-01 | Konrad Farys | Ventilation pipe cleaner |
| CN209876297U (en) * | 2019-01-29 | 2019-12-31 | 同济大学 | Spiral propelling device of pipeline inspection robot |
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| 具有轴向和周向探查功能的螺旋驱动管内机器人;李鹏;马书根;李斌;王越超;;机械工程学报(第21期);第19-28页 * |
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