CN109764210B

CN109764210B - Walking method of pipeline robot

Info

Publication number: CN109764210B
Application number: CN201910103185.1A
Authority: CN
Inventors: 任成�
Original assignee: Tongxiang Gaode Engineering Technology Service Co ltd
Current assignee: Tongxiang Gaode Engineering Technology Service Co.,Ltd.
Priority date: 2019-02-01
Filing date: 2019-02-01
Publication date: 2021-04-06
Anticipated expiration: 2039-02-01
Also published as: CN109764210A

Abstract

The invention belongs to the technical field of pipeline robots, and particularly relates to a walking method of a pipeline robot, which comprises the following steps: a method for attaching a pipeline robot to a pipeline wall, a method for walking the pipeline robot in the pipeline and a method for turning the pipeline robot in the pipeline can solve the problems that the existing pipeline robot cannot deal with pipelines with special shapes, cannot change the thickness and cannot enter a thin pipeline from the thick pipeline, so that the applicable size has great limitation, and the pipelines dealing with different curvatures cannot turn, so that the applicable condition of the pipeline robot is limited.

Description

Walking method of pipeline robot

Technical Field

The invention belongs to the technical field of pipeline robots, and particularly relates to a walking method of a pipeline robot.

Background

Pipeline robot can follow inside or outside automatic walking of tiny pipeline, carry one or more sensor and operating machine, under staff's remote control operation or computer automatic control, carries out the machine, electricity, the appearance integration system of a series of pipeline operations, and current pipeline robot can't deal with some circumstances as follows:

(1) the pipeline with a special cross section shape can not enter;

(2) the thickness can not be changed, and the pipeline can not enter a thin pipeline from a thick pipeline, so that the applicable size is limited;

(3) the pipeline robot cannot cope with the problem that the pipeline with different curvatures cannot turn, so that the application condition of the pipeline robot is limited;

(4) the problem that the pipeline robot falls off due to the influence of gravity in the walking process can not be avoided.

Disclosure of Invention

The invention aims to provide a walking method of a pipeline robot, which solves the problems that the prior pipeline robot can not deal with pipelines with special shapes, can not change the thickness and can not enter thin pipelines from the thick pipelines, so the application size has great limitation, and the application condition of the pipeline robot is limited because the pipeline robot can not turn corresponding to pipelines with different curvatures.

The technical scheme of the invention is as follows:

a pipeline robot, comprising: the device comprises an extension driving device, a first steering driving device, a second steering driving device and a supporting leg; the two ends of the second steering driving device are fixedly connected with the movable end of one first steering driving device, the fixed end of each first steering driving device is fixedly connected with one end of an extension driving device, and a plurality of support legs are hinged on the extension driving device;

first turn to drive arrangement has turn function and flexible function, can drive the second and turn to drive arrangement and carry out the turn motion, first turn to drive arrangement can extend drive arrangement motion through flexible drive, it has flexible function to extend drive arrangement, first turn to drive arrangement and extend drive arrangement and combine together, can accomplish the action that gets into the thin pipeline by thick pipeline, the stabilizer blade is articulated with extending drive arrangement and can carry out 135 degrees scope angle modulation, deformation takes place on stabilizer blade upper portion, can guarantee inseparable laminating on the pipe wall, the second turns to drive arrangement's upper portion drive lower part and rotates, can drive first turn to drive arrangement redirecting, make first turn to drive arrangement realize the turn in different position.

Preferably, the first steering drive device includes: the steering driving device comprises a first telescopic rod, a second telescopic rod and a steering driving rod; the stiff end of first telescopic link and the outer fixed surface who extends drive arrangement are connected, two second telescopic link parallel arrangement are on extending drive arrangement's surface and are located the both sides of first telescopic link, the stiff end of two second telescopic links and the outer fixed surface who extends drive arrangement are connected, be provided with a plurality of links on the steering drive pole, the expansion end of first telescopic link rotates with the link that is located in the middle of the steering drive pole to be connected, the expansion end of two second telescopic links rotates with the link that is located the steering drive pole both ends to be connected, steering drive pole and second steering drive arrangement's one end fixed connection.

Preferably, the extension driving means includes: the third telescopic rod, the fixed block and the first shell; the one end of first casing and the stiff end fixed connection of first telescopic link and second telescopic link, the inside fixedly connected with fixed block of first casing, the symmetrical welding has a plurality of third telescopic links on the fixed block, and the stiff end welding of third telescopic link is on the fixed block surface, and the expansion end of every third telescopic link all articulates there is a stabilizer blade.

Preferably, the second steering drive device includes: the device comprises a connecting rod, a connecting piece, a second shell, a third shell, a driving wheel, a driven wheel, a bearing, a first driving motor and a braking device; the one end of second casing is passed through connecting rod and a steering drive pole fixed connection, the other end passes through the bearing and is connected with the rotation of third casing, the one end of third casing is passed through connecting piece and a steering drive pole fixed connection, the inside top of second casing is provided with first driving motor, the inboard bottom of third casing is provided with the mounting groove, the main shaft of first driving motor and the main shaft fixed connection of action wheel, the main shaft other end setting of action wheel is in the mounting groove of third casing and is connected with the rotation of third casing, two are followed the driving wheel setting in the action wheel both sides, and rotate with the casing and be connected, two are followed driving wheel and action wheel intermeshing, third casing inboard is provided with tooth, two are followed tooth and are followed tooth intermeshing on the driving wheel and the third casing.

Preferably, the braking device includes: an electric push rod and a hexagonal prism brake rod; a hexagonal groove is formed in a main shaft of the driven wheel, an installation groove is formed in the second shell, an electric push rod is installed in the groove, a fixed end of the electric push rod is arranged in the groove and fixedly connected with the second shell, and a movable end of the electric push rod is fixedly connected with a hexagonal prism brake rod.

Preferably, the legs comprise: the device comprises a main body, a second driving motor, a steering gear, a threaded driving rod, a spring, a fixing rod and a contact plate; the one end of steering gear main shaft and the expansion end fixed connection of third telescopic link, the other end of steering gear main shaft is rotated with the main part and is connected, the inside cavity that is provided with of main part, second driving motor sets up inside the main part, second driving motor's output fixedly connected with screw thread actuating lever, the screw thread actuating lever meshes with steering gear mutually, the outside of main part is provided with a plurality of recesses, all be provided with a spring and a dead lever in every recess, the dead lever bottom is provided with useful spacing arch, the dead lever bottom is leaned on with the one end of spring counterbalance, the other end of spring is leaned on with recess bottom counterbalance, the dead lever top is provided with spherical joint, contact plate bottom face is provided with the glenoid, the spherical joint on the dead lever.

A steering drive device for a pipeline robot, comprising: the steering driving device comprises a first telescopic rod, a second telescopic rod and a steering driving rod; the fixed ends of the first telescopic rods are fixedly connected with the outer surface of the extension driving device, the two second telescopic rods are arranged on the outer surface of the extension driving device in parallel and are positioned at two sides of the first telescopic rods, the fixed ends of the two second telescopic rods are fixedly connected with the outer surface of the extension driving device, a plurality of connecting ends are arranged on the steering driving rod, the movable end of the first telescopic rod is rotatably connected with the connecting end positioned in the middle of the steering driving rod, the movable ends of the two second telescopic rods are rotatably connected with the connecting ends positioned at two ends of the steering driving rod, and the steering driving rod is fixedly connected with one end of the second steering driving device;

or

The method comprises the following steps: the device comprises a connecting rod, a connecting piece, a second shell, a third shell, a driving wheel, a driven wheel, a bearing, a first driving motor and a braking device; the one end of second casing is passed through connecting rod and a steering drive pole fixed connection, the other end passes through the bearing and is connected with the rotation of third casing, the one end of third casing is passed through connecting piece and a steering drive pole fixed connection, the inside top of second casing is provided with first driving motor, the inboard bottom of third casing is provided with the mounting groove, the main shaft of first driving motor and the main shaft fixed connection of action wheel, the main shaft other end setting of action wheel is in the mounting groove of third casing and is connected with the rotation of third casing, two are followed the driving wheel setting in the action wheel both sides, and rotate with the casing and be connected, two are followed driving wheel and action wheel intermeshing, third casing inboard is provided with tooth, two are followed tooth and are followed tooth intermeshing on the driving wheel and the third casing.

An extension driving apparatus for a pipeline robot, comprising: the third telescopic rod, the fixed block and the first shell; the one end of first casing and the stiff end fixed connection of first telescopic link and second telescopic link, the inside fixedly connected with fixed block of first casing, the symmetrical welding has a plurality of third telescopic links on the fixed block, and the stiff end welding of third telescopic link is on the fixed block surface, and the expansion end of every third telescopic link all articulates there is a stabilizer blade.

A brake device for a pipeline robot, comprising: an electric push rod and a hexagonal prism brake rod; a hexagonal groove is formed in a main shaft of the driven wheel, an installation groove is formed in the second shell, an electric push rod is installed in the groove, a fixed end of the electric push rod is arranged in the groove and fixedly connected with the second shell, and a movable end of the electric push rod is fixedly connected with a hexagonal prism brake rod.

A support leg for a pipeline robot, comprising: the device comprises a main body, a second driving motor, a steering gear, a threaded driving rod, a spring, a fixing rod and a contact plate; the one end of steering gear main shaft and the expansion end fixed connection of third telescopic link, the other end of steering gear main shaft is rotated with the main part and is connected, the inside cavity that is provided with of main part, second driving motor sets up inside the main part, second driving motor's output fixedly connected with screw thread actuating lever, the screw thread actuating lever meshes with steering gear mutually, the outside of main part is provided with a plurality of recesses, all be provided with a spring and a dead lever in every recess, the dead lever bottom is provided with useful spacing arch, the dead lever bottom is leaned on with the one end of spring counterbalance, the other end of spring is leaned on with recess bottom counterbalance, the dead lever top is provided with spherical joint, contact plate bottom face is provided with the glenoid, the spherical joint on the dead lever.

A method for adhering a pipeline robot to a pipeline wall, comprising the following steps:

firstly, in the face of pipelines with different sizes and different cross-sectional shapes, a third telescopic rod needs to be debugged in advance, the third telescopic rod is shortened until the third telescopic rod can be placed into the pipeline, and then the device is placed into the pipeline;

step two, electrifying a second driving motor, driving the threaded driving rod to rotate by the second driving motor, driving the main body to rotate around the steering gear by the second driving motor when the threaded driving rod rotates due to the fact that the threaded driving rod is meshed with the steering gear, debugging the angle between the main body and the third telescopic rod until the support legs are approximately parallel to the pipeline wall, stopping supplying power to the second driving motor, and adopting an electromagnetic power-off braking motor for the second driving motor;

and step three, controlling the extension of a third telescopic rod, driving a contact plate to be in contact with the pipeline wall through a main body in the extension process of the third telescopic rod, and when the contact plate is in contact with the pipeline wall, because the contact plate is connected with the top end of a fixed rod through a joint, the angle between each contact plate and the fixed rod can be changed by the extrusion of the pipeline wall and the main body when the contact plate is attached to the pipeline wall and is attached to the pipeline wall, and a spring below each fixed rod can drive each contact plate to be closely attached to the pipeline wall through the fixed rod.

A method for a pipeline robot to walk in a pipeline comprises the following steps:

step one, putting the device into a pipeline, extending a third telescopic rod to enable support legs to be attached to the wall of the pipeline, then shortening the third telescopic rod on a stretching driving device positioned behind and driving the support legs to be separated from the wall of the pipeline, and shortening all first telescopic rods and second telescopic rods to further drive the stretching driving device positioned behind to move forwards;

step two, extending a third telescopic rod on the extension driving device at the rear part to drive the support legs to be attached to the pipeline wall again, then shortening the third telescopic rod on the extension driving device at the front part to drive the support legs to be separated from the pipeline wall, extending all the first telescopic rods and the second telescopic rods to drive the extension driving device at the front part to move forwards, and then extending the third telescopic rod on the extension driving device at the front part to drive the support legs to be attached to the pipeline wall again;

and step three, repeating the step one and the step two.

A method for a pipeline robot to enter a thin pipeline from a thick pipeline comprises the following steps:

firstly, when a thin pipeline appears in the front, shortening a third telescopic rod on a front extension driving device until the front extension driving device can enter the thin pipeline, and then extending all first telescopic rods and second telescopic rods to drive the front extension driving device to enter the thin pipeline;

after entering the thin pipeline, extending a third telescopic rod on the front extension driving device to enable the support legs to be attached to the pipe wall of the thin pipeline;

and step three, shortening a third telescopic rod on the extension driving device positioned at the rear part, further driving the support legs to be separated from the pipe wall, then shortening the first telescopic rod and the second telescopic rod, further driving the extension driving device positioned at the rear part to enter the thin pipe, and then extending the third telescopic rod on the extension driving device positioned at the rear part to vertically attach the support legs to the pipe wall of the thin pipe.

A method for a pipeline robot to turn in a pipeline with a bend, comprising the steps of:

step one, when a pipeline with a camber is encountered, a third telescopic rod on a front extension driving device is retracted to be shortest, and a first telescopic rod and a second telescopic rod on the rear are extended to drive the front extension driving device to move to a corner;

step two, extending the first telescopic rod at one side of the first steering driving device positioned in front, shortening the first telescopic rod at the other side, promoting the steering driving rod to move, driving the second shell through the connecting rod while the steering driving rod moves, driving the third shell through the bearing, driving the steering driving rod through the connecting piece by the third shell, and driving the extending driving device positioned in front to do steering motion through the first telescopic rod and the second telescopic rod, then the first telescopic rod at one side of the first telescopic rod on the front steering driving device is extended and the first telescopic rod at the other side is shortened, so that the first telescopic rod takes the steering driving rod as the center to change the angle, the first telescopic rod and the second telescopic rod which are positioned in front extend simultaneously when the angle changes, and the extension driving device positioned in front is driven to enter a pipeline after turning;

and step three, when the turning direction needs to be changed, for example, the turning direction is changed from the left turning direction to the right turning direction, power is supplied to a first driving motor, the first driving motor drives a driven wheel through a driving wheel, the driven wheel drives a third shell through teeth, the third shell rotates on a second shell through a bearing, the third shell drives a first turning driving device to rotate through a connecting piece while rotating, so that the turning direction is changed, after the direction is adjusted, an electric push rod pushes a hexagonal prism brake rod to be inserted into a hexagonal groove preset on a main shaft of the driven wheel, the driven wheel is braked, and the third shell is prevented from rotating under the influence of external force.

A pipeline robot walking method comprises the following steps:

a, a pipeline robot is attached to the pipeline wall, and a method for attaching the pipeline robot to the pipeline wall is adopted;

step b, judging whether the pipeline is a straight pipeline, if:

if yes, entering step c;

if not, entering the step e;

step c, judging whether the thicknesses of the pipelines are consistent, if so:

the pipeline robot walks in the pipeline, a method for walking the pipeline robot in the pipeline is adopted, and the step a is returned;

if not, go to step d

D, judging whether the pipeline is from coarse to fine, if:

the pipeline robot enters the thin pipeline from the thick pipeline, and the method that the pipeline robot enters the thin pipeline from the thick pipeline is adopted, and the step a is returned;

if not, the pipeline robot enters the thick pipeline from the thin pipeline, and the sequence of the method that the pipeline robot enters the thin pipeline from the thick pipeline is adopted, and the step a is returned;

and e, turning the pipeline robot in the pipeline with the curvature, and adopting a method for turning the pipeline robot in the pipeline with the curvature.

Preferably, the pipeline robot walking method is implemented based on a pipeline robot, and the pipeline robot includes: the device comprises an extension driving device, a first steering driving device, a second steering driving device and a supporting leg; the two ends of the second steering driving device are fixedly connected with the movable end of one first steering driving device, the fixed end of each first steering driving device is fixedly connected with one end of an extension driving device, and a plurality of support legs are hinged on the extension driving device;

first turn to drive arrangement has turn function and flexible function, can drive the second and turn to drive arrangement and carry out the turn motion, first turn to drive arrangement can extend drive arrangement motion through flexible drive, it has flexible function to extend drive arrangement, first turn to drive arrangement and extend drive arrangement and combine together, can accomplish the action that gets into the thin pipeline by thick pipeline, the stabilizer blade is articulated with extending drive arrangement and can carry out the scope angle modulation of degree, deformation takes place on stabilizer blade upper portion, can guarantee inseparable laminating on the pipe wall, the second turns to drive arrangement's upper portion drive lower part and rotates, can drive first turn to drive arrangement redirecting, make first turn to drive arrangement realize the turn in different positions.

The invention has the beneficial effects that:

the first steering driving device can drive another first steering driving device through the second steering driving device, and further drive the two extension driving devices to realize turning action, thereby effectively solving the problem that the pipeline robot can not turn in the pipeline, the first steering driving device can drive the extension driving devices to realize actions similar to worm peristalsis to walk in the pipeline, the first steering driving device and the extension driving devices effectively realize the function that the pipeline robot enters the thin pipeline through the pipeline, because the support legs are hinged with the extension driving devices, the support legs and the extension driving devices are combined to be suitable for pipelines with different sizes and different shapes, the limitation of the application range of the existing pipeline robot is broken, the extension driving devices and the support legs can realize the function of being tightly attached to the pipeline, and the risk that the pipeline robot falls off due to the influence of gravity when walking is effectively avoided, the second turns to the direction that drive arrangement can change the turn and can guarantee that this device can turn at the curved pipeline of different angles, makes this device can face the pipeline of different degrees of curvature.

The device is put into a pipeline, the third telescopic rod extends to enable the support legs to be attached to the wall of the pipeline, then the third telescopic rod on the extension driving device positioned at the rear part is shortened, and drives the support legs to be separated from the pipeline wall, all the first telescopic rods and the second telescopic rods are shortened to drive the extension driving device positioned at the rear part to move forwards, the third telescopic rod on the extension driving device positioned at the rear part is extended to drive the support legs to be attached to the pipeline wall again, then the third telescopic rod on the front extension driving device is shortened to drive the support legs to be separated from the pipeline wall, all the first telescopic rods and the second telescopic rods are extended to drive the front extension driving device to move forwards, then a third telescopic rod on the stretching driving device positioned in front is extended to enable the support legs to be attached to the pipe wall again, so that the walking action similar to the wriggling of the insects is completed, and the walking becomes more convenient.

When a thin pipeline appears in the front, firstly, the third telescopic rod on the front stretching driving device is shortened until the front stretching driving device can enter the thin pipeline, and then all the first telescopic rods and the second telescopic rods are extended to drive the front stretching driving device to enter the thin pipeline; after entering the thin pipeline, a third telescopic rod on the stretching driving device positioned in front is stretched to enable the support legs to be attached to the pipe wall of the thin pipeline and abut against the pipe wall; the third telescopic link that is located the extension drive arrangement at rear shortens, and then drives the stabilizer blade and breaks away from the pipe wall, then first telescopic link shortens with the second telescopic link, and then drives the extension drive arrangement who is located the rear and gets into thin pipeline, then the third telescopic link extension that is located the extension drive arrangement at rear indulges the purpose that makes the stabilizer blade laminating can realize changing the thickness and get into thin pipeline by thick pipeline on the pipe wall of thin pipeline, makes this device more convenient walking in the pipeline.

When a pipeline with a curvature is encountered, the third telescopic rod on the front extension driving device is retracted to the shortest length, and the first telescopic rod and the second telescopic rod on the rear extension driving device are extended to drive the front extension driving device to move to a corner; the first telescopic rod at one side of the first steering driving device at the front is extended, the first telescopic rod at the other side is shortened, so that the steering driving rod is driven to move, the steering driving rod drives the second shell through the connecting rod while moving, the second shell drives the third shell through the bearing, the third shell drives the steering driving rod through the connecting piece and then drives the extension driving device at the front through the first telescopic rod and the second telescopic rod to do steering motion, then the first telescopic rod at one side of the first telescopic rod on the steering driving device at the front is extended and the first telescopic rod at the other side is shortened, so that the first telescopic rod generates angle change by taking the steering driving rod as the center, the first telescopic rod and the second telescopic rod at the front are simultaneously extended while the angle is changed, the extension driving device at the front is driven to enter a pipeline after turning, and the turning action in the pipeline is, when needs change turn direction, for example turn direction about changing into, supply power to first driving motor, first driving motor passes through the action wheel and drives from the driving wheel, from driving wheel through the tooth drive third casing, the third casing passes through the bearing and rotates on the second casing, the third casing drives first turn drive arrangement rotation through the connecting piece when the pivoted, thereby change the direction of its turn, make pipeline robot walk more in the pipeline, after direction adjustment, electric putter promotes six prismatic brake levers and inserts in the hexagonal recess of predetermineeing from the driving wheel main shaft, brake from the driving wheel, guarantee that the third casing can not receive external force influence and rotate and lead to the risk that turn direction made mistakes.

When pipelines with different sizes and different cross-sectional shapes are faced, the third telescopic rod needs to be debugged in advance to be shortened until the third telescopic rod can be placed into the pipeline, then the device is placed into the pipeline, then the second driving motor is electrified, the second driving motor drives the threaded driving rod to rotate, because the threaded driving rod is meshed with the steering gear, the main body is driven to rotate around the steering gear by the second driving motor while the threaded driving rod rotates, so that the angle between the main body and the third telescopic rod is debugged, the debugging is stopped until the support legs are approximately parallel to the pipeline wall, the power supply to the second driving motor is stopped, the second driving motor adopts an electromagnetic power-off braking motor, the condition that the angle is influenced by external force to change after the debugging is effectively avoided, then the extension of the third telescopic rod is controlled, and the contact plate is driven to be contacted with the pipeline wall by the main body in the extension process of the third telescopic, the contact plate is when contacting with the pipeline wall, because the contact plate passes through joint connection with the dead lever top, consequently the angle between every contact plate and the dead lever can be changed by the extrusion of pipeline wall and main part when laminating with the pipeline wall, and inseparable laminating pipeline wall, the spring of every dead lever below can order about the inseparable laminating of every contact plate on the pipeline wall through the dead lever, the effectual pipeline robot of having avoided skids at the walking in-process, or receive external force to influence and the risk that drops, and the effectual limitation that has broken the pipeline robot and can only be used for circular cross section pipeline.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the extension driving apparatus in its structure and extension;

FIG. 3 is a schematic view of the extension drive retraction;

FIG. 4 is a schematic structural view of a first steering drive device;

FIG. 5 is a schematic structural view of a second steering driving device;

FIG. 6 is a schematic view of the transmission structure of the second steering driving device;

FIG. 7 is a schematic view of the structure of the leg;

in the figure: 1-extension driving device, 2-first steering driving device, 3-second steering driving device, 4-support leg, 1-1-third telescopic rod, 1-2-fixed block, 1-3-first shell, 2-1-first telescopic rod, 2-2-second telescopic rod, 2-3-steering driving rod, 3-1-connecting rod, 3-2-connecting piece, 3-3-second shell, 3-4-third shell, 3-5-driving wheel, 3-6-driven wheel, 3-7-bearing, 3-8-first driving motor, 3-9-braking device, 3-9-1-electric push rod, 3-9-2 hexagonal prism braking rod, 4-1-main body, 4-2-second driving motor, 4-3-steering gear, 4-4-screw driving rod, 4-5-spring, 4-6-fixing rod and 4-7-contact plate.

Detailed Description

The invention will be described in detail below with reference to the following drawings:

detailed description of the invention

As shown in fig. 1, the present embodiment discloses a pipeline robot, including: an extension drive 1, a first steering drive 2, a second steering drive 3 and a foot 4; both ends of the second steering driving device 3 are fixedly connected with the movable end of one first steering driving device 2, the fixed end of each first steering driving device 2 is fixedly connected with one end of one extension driving device 1, and a plurality of support legs 4 are hinged on the extension driving device 1;

the first steering driving device 2 has a turning function and a stretching function and can drive the second steering driving device 3 to turn, the first steering driving device 2 can drive the extension driving device 1 to move through stretching, the extension driving device 1 has a stretching function, the first steering driving device 2 is combined with the extension driving device 1 and can finish the action of entering a thin pipeline from a thick pipeline, the support legs 4 are hinged with the extension driving device 1 and can adjust the range angle of 135 degrees, the upper parts of the support legs 4 deform and can be tightly attached to the pipe wall, the upper parts of the second steering driving device 3 drive the lower parts to rotate and can drive the first steering driving device 2 to change the direction, so that the first steering driving device 2 can realize turning in different directions;

the first steering driving device 2 at one end of the second steering driving device 3 can drive the first steering driving device 2 at the other end of the second steering driving device 3 to displace through the telescopic function, the upper half part of the second steering driving device 3 can rotate on the lower half part of the second steering driving device 3, the first steering driving device 2 can drive the extension driving device 1 to swing towards two sides so as to realize the function of turning in the pipeline, because the first steering driving device 2 can only drive the extension driving device 1 to swing towards two sides, the lower half part of the second steering driving device 3 can drive the first steering driving device 2 to rotate through the upper half part of the second steering driving device 3 so as to change the turning direction, and the swinging direction of the extension driving device 1 driven by the first steering driving device 2 can be changed so as to realize turning towards different directions, the extension driving device 1 is provided with a plurality of extension ends, each extension end is provided with a support leg, and the support legs can be driven to move outwards or outwards through the extension and retraction of the extension ends, firstly, the extension ends on the extension driving device 1 are driven to contract to drive the support legs 4 to move inwards, then the device is placed into a pipeline, then the extension ends of the extension driving device 1 extend to drive the support legs 4 to be attached to the pipeline wall so as to support the device relative to the pipeline wall, the contraction end of the extension driving device 1 positioned at the rear part retracts to drive the support legs 4 to be detached from the pipeline wall, then all the first steering driving devices 2 shorten so as to drive the extension driving device 1 positioned at the rear part to move forwards, then the extension end of the extension driving device 1 positioned at the rear part extends to enable the support legs 4 to be attached to the pipeline wall, and then the extension end of the extension driving device, thereby it is no longer laminated with the pipeline wall to drive the inside side motion of stabilizer blade 4, then all first turn to drive device 2 extensions, and then the extension drive arrangement 1 that promotes to be located the place ahead moves along, then the flexible end extension of the first extension drive arrangement 1 that is located the place ahead orders about stabilizer blade 4 to move to the outside and then drives stabilizer blade 4 and the laminating of pipeline wall, repeats above-mentioned step and can reach like the action of worm wriggling walking in the pipeline.

Detailed description of the invention

With reference to fig. 1 to 4, the present embodiment differs from the first embodiment in that: the first steering drive device 2 includes: the steering driving device comprises a first telescopic rod 2-1, a second telescopic rod 2-2 and a steering driving rod 2-3; the fixed end of the first telescopic rod 2-1 is fixedly connected with the outer surface of the extension driving device 1, the two second telescopic rods 2-2 are arranged on the outer surface of the extension driving device 1 in parallel and positioned at two sides of the first telescopic rod 2-1, the fixed ends of the two second telescopic rods 2-2 are fixedly connected with the outer surface of the extension driving device 1, a plurality of connecting ends are arranged on the steering driving rod 2-3, the movable end of the first telescopic rod 2-1 is rotatably connected with the connecting end positioned in the middle of the steering driving rod 2-3, the movable ends of the two second telescopic rods 2-2 are rotatably connected with the connecting ends positioned at two ends of the steering driving rod 2-3, and the steering driving rod 2-3 is fixedly connected with one end of the second steering driving device 3;

because the first telescopic rod 2-1 and the second telescopic rod 2-2 are rotatably connected with the connecting end of the steering driving rod 2-3, therefore, the second expansion link 2-2 positioned at the left side of the first expansion link 2-1 is extended, the second expansion link 2-2 positioned at the right side of the first expansion link 2-1 is shortened, and then the steering driving rod 2-3 is driven to clockwise swing by 45 degrees by taking the connecting end connected with the first telescopic rod 2-1 as a center, the second steering driving device 3 and the other first steering driving device 2 drive the first steering driving device 2 to swing to the right side when the steering driving rod 2-3 is driven to clockwise swing, otherwise, the first telescopic rod 2-1 and the second telescopic rod 2-2 swing to the left side, the purpose of turning to the left side and the right side is realized, and the stretching driving device 1 can be pulled or pushed to move when the first telescopic rod 2-1 and the second telescopic rod 2-2 are stretched or shortened simultaneously.

Detailed description of the invention

With reference to fig. 1 to 4, the present embodiment differs from the second embodiment in that: the extension drive apparatus 1 includes: a third telescopic rod 1-1, a fixed block 1-2 and a first shell 1-3; one end of the first shell 1-3 is fixedly connected with the fixed ends of the first telescopic rod 2-1 and the second telescopic rod 2-2, the fixed block 1-2 is fixedly connected inside the first shell 1-3, a plurality of third telescopic rods 1-1 are symmetrically welded on the fixed block 1-2, the fixed ends of the third telescopic rods 1-1 are welded on the surface of the fixed block 1-2, and the movable end of each third telescopic rod 1-1 is hinged with a support leg 4;

the fixed block 1-2 plays a role of fixing each third telescopic rod 1-3, after the pipeline is placed in the pipeline, all the third telescopic rods 1-3 drive each support leg 4 to extend outwards through extension, even though each support leg 4 is attached to the pipeline wall, when all the support legs 4 are attached to the pipeline wall, all the third telescopic rods 1-3, the support legs 4 and the fixed block 1-2 form a stable supporting structure, when the pipeline is used, the length of the third telescopic rods 1-3 is adjusted, the adjustment of the length of the third telescopic rods 1-3 is stopped until the pipeline can be placed in the pipeline, then all the third telescopic rods 1-3 are extended, the support legs 4 are driven to be attached to the pipeline wall, the pipeline is supported, and then the third telescopic rods 1-3 on the rear extension driving device 1 are shortened, the third telescopic rods 1-3 pull the support legs 4 to move inwards by shortening, so that the support legs 4 are separated from the inner wall of the pipeline, then all the first telescopic rods 2-1 and the second telescopic rods 2-2 are shortened, and further the extension driving device 1 positioned at the rear part is pulled to move forwards, then the third telescopic rod 1-3 on the extension driving device 1 positioned at the rear part extends to drive the supporting foot 4 to be attached to the pipeline wall again, then the third telescopic rod 1-3 on the front extension driving device 1 shortens the driving leg 4 to move inwards, so as to separate from the surface of the pipeline wall, then all the first telescopic rods 2-1 and the second telescopic rods 2-2 are extended to push the extension driving device 1 positioned in front to move forwards, then the third telescopic rod 1-3 on the front extension driving device 1 extends to push the support foot 4 to be attached to the pipeline wall again.

Detailed description of the invention

With reference to fig. 1 to 7, the present embodiment differs from the third embodiment in that: the second steering drive device 3 includes: the device comprises a connecting rod 3-1, a connecting piece 3-2, a second shell 3-3, a third shell 3-4, a driving wheel 3-5, a driven wheel 3-6, a bearing 3-7, a first driving motor 3-8 and a braking device 3-9; one end of the second shell 3-3 is fixedly connected with a steering driving rod 2-3 through a connecting rod 3-1, the other end is rotatably connected with a third shell 3-4 through a bearing 3-7, one end of the third shell 3-4 is fixedly connected with a steering driving rod 2-3 through a connecting piece 3-2, the top end inside the second shell 3-3 is provided with a first driving motor 3-8, the bottom of the inner side of the third shell 3-4 is provided with a mounting groove, a main shaft of the first driving motor 3-8 is fixedly connected with a main shaft of a driving wheel 3-5, the other end of the main shaft of the driving wheel 3-5 is arranged in the mounting groove of the third shell 3-4 and is rotatably connected with the third shell 3-4, two driven wheels 3-6 are arranged at two sides of the driving wheel 3-5, the two driven wheels 3-6 are meshed with the driving wheels 3-5, teeth are arranged on the inner side of the third shell 3-4, and the teeth of the two driven wheels 3-6 are meshed with the teeth on the third shell 3-4;

when the turning direction needs to be changed, the first driving motor 3-8 drives the driven wheel 3-6 to rotate through the driving wheel 3-5, the driven wheel 3-6 drives the third shell 3-4 to rotate on the second shell 3-3 through the gear teeth, the third shell 3-4 drives the first turning driving device 2 positioned below the third shell to rotate through the connecting piece 3-2 so as to change the turning direction of the third shell, the second shell 3-3 and the third shell 3-4 can rotate relatively, and then the second shell 3-3 can drive the first turning driving device 2 to rotate through the connecting rod 3-1, so that the turning direction of the second shell is changed.

Detailed description of the invention

Based on the fourth embodiment with reference to fig. 5 and fig. 6, the present embodiment is different in that: the braking device 3-9 includes: an electric push rod 3-9-1 and a hexagonal prism brake rod 3-9-2; a hexagonal groove is formed in a main shaft of the driven wheel 3-6, an installation groove is formed in the second shell 3-3, an electric push rod 3-9-1 is installed in the groove, the fixed end of the electric push rod 3-9-1 is arranged in the groove and fixedly connected with the second shell 3-3, and a hexagonal prism brake rod 3-9-2 is fixedly connected with the movable end of the electric push rod 3-9-1;

when the second shell 3-3 or the third shell 3-4 rotates to a certain angle and needs to be fixed, the electric push rod 3-9-1 pushes the hexagonal prism brake rod 3-9-2 to enter the hexagonal groove on the main shaft of the driven wheel 3-6 to brake the hexagonal prism brake rod, so that the second shell 3-3 or the third shell 3-4 is fixed, and the second shell 3-3 or the third shell 3-4 can rotate without being influenced by external force when the first driving motor 3-8 stops operating.

Detailed description of the invention

Based on the fifth embodiment with reference to fig. 2, fig. 3 and fig. 7, the present embodiment is different in that: the foot 4 comprises: the device comprises a main body 4-1, a second driving motor 4-2, a steering gear 4-3, a threaded driving rod 4-4, a spring 4-5, a fixing rod 4-6 and a contact plate 4-7; one end of a main shaft of a steering gear 4-3 is fixedly connected with the movable end of a third telescopic rod 1-1, the other end of the main shaft of the steering gear 4-3 is rotatably connected with a main body 4-1, a cavity is arranged inside the main body 4-1, a second driving motor 4-2 is arranged inside the main body 4-1, the output end of the second driving motor 4-2 is fixedly connected with a threaded driving rod 4-4, the threaded driving rod 4-4 is meshed with the steering gear 4-3, a plurality of grooves are arranged on the outer side of the main body 4-1, a spring 4-5 and a fixed rod 4-6 are arranged in each groove, a limiting bulge is arranged at the bottom end of each fixed rod 4-6, the bottom end of each fixed rod 4-6 is abutted against one end of the spring 4-5, and the other end of the spring 4-, the top end of the fixed rod 4-6 is provided with a spherical joint, the bottom end face of the contact plate 4-7 is provided with a joint socket, and the spherical joint on the fixed rod 4-6 is arranged in the joint socket at the bottom of the contact plate 4-7;

the second driving motor 4-2 can rotate through the threaded driving rod 4-4 and move on the steering gear 4-3, the threaded driving rod 4-4 moves around the steering gear 4-3 when rotating, the main body is driven to rotate around the steering gear 4-3 through the second driving motor 4-2 per se and changes the angle between the main body and the third telescopic rod 1-3, so that the support leg 4 is attached to the pipe wall in the best posture, when the support leg 4 is attached to the pipe wall, the contact plate 4-7 is connected with the fixed rod 4-6 through a joint, the angle between the contact plate 4-7 and the fixed rod 4-6 can be changed under the influence of external force when the support leg is in contact with the pipe wall, so that the surface formed by the contact plates 4-7 is deformed to adapt to the radian of the pipe, and the spring 4-5 at the bottom of the fixed rod 4-6 can drive the contact plate 4-7 through the fixed Tightly fit on the pipe wall.

Detailed description of the invention

The steering driving device for the pipeline robot disclosed in the embodiment with reference to fig. 1, 4, 5 and 6 comprises a first telescopic rod 2-1, a second telescopic rod 2-2 and a steering driving rod 2-3; the fixed end of the first telescopic rod 2-1 is fixedly connected with the outer surface of the extension driving device 1, the two second telescopic rods 2-2 are arranged on the outer surface of the extension driving device 1 in parallel and positioned at two sides of the first telescopic rod 2-1, the fixed ends of the two second telescopic rods 2-2 are fixedly connected with the outer surface of the extension driving device 1, a plurality of connecting ends are arranged on the steering driving rod 2-3, the movable end of the first telescopic rod 2-1 is rotatably connected with the connecting end positioned in the middle of the steering driving rod 2-3, the movable ends of the two second telescopic rods 2-2 are rotatably connected with the connecting ends positioned at two ends of the steering driving rod 2-3, and the steering driving rod 2-3 is fixedly connected with one end of the second steering driving device 3;

or

The method comprises the following steps: the device comprises a connecting rod 3-1, a connecting piece 3-2, a second shell 3-3, a third shell 3-4, a driving wheel 3-5, a driven wheel 3-6, a bearing 3-7, a first driving motor 3-8 and a braking device 3-9; one end of the second shell 3-3 is fixedly connected with a steering driving rod 2-3 through a connecting rod 3-1, the other end is rotatably connected with a third shell 3-4 through a bearing 3-7, one end of the third shell 3-4 is fixedly connected with a steering driving rod 2-3 through a connecting piece 3-2, the top end inside the second shell 3-3 is provided with a first driving motor 3-8, the bottom of the inner side of the third shell 3-4 is provided with a mounting groove, a main shaft of the first driving motor 3-8 is fixedly connected with a main shaft of a driving wheel 3-5, the other end of the main shaft of the driving wheel 3-5 is arranged in the mounting groove of the third shell 3-4 and is rotatably connected with the third shell 3-4, two driven wheels 3-6 are arranged at two sides of the driving wheel 3-5, the two driven wheels 3-6 are meshed with the driving wheels 3-5, teeth are arranged on the inner side of the third shell 3-4, and the teeth of the two driven wheels 3-6 are meshed with the teeth on the third shell 3-4;

the second telescopic rod 2-2 positioned at the left side of the first telescopic rod 2-1 is extended, the second telescopic rod 2-2 positioned at the right side of the first telescopic rod 2-1 is shortened, the steering driving rod 2-3 can be driven to clockwise swing to the right at 45 degrees by taking the connecting end connected with the first telescopic rod 2-1 as the center, otherwise, the steering driving rod 2-2 swings to the left at 45 degrees, so that the third shell 3-4 can be driven by the connecting rod 3-1 or the second shell 3-3 can be driven by the connecting rod 3-1, the extension driving device 1 connected with the fixed ends of the first telescopic rod 2-1 and the second telescopic rod 2-2 can be driven to swing by taking the connecting piece 3-2 as the reference, the steering driving rod 2-3 can swing to the left and the right, so that the first driving motor 3-8 drives the driven wheel 3-6 by driving the driving The third shell 3-4 is driven by the teeth to rotate on the second shell 3-3 through the bearing, so that the swinging direction of the steering driving rod 2-3 is changed, and the pipeline robot can turn in the pipeline in an omnibearing way.

Detailed description of the invention

The present embodiment discloses an extension driving apparatus for a pipeline robot in conjunction with fig. 1 to 4, comprising: a third telescopic rod 1-1, a fixed block 1-2 and a first shell 1-3; one end of the first shell 1-3 is fixedly connected with the fixed ends of the first telescopic rod 2-1 and the second telescopic rod 2-2, the fixed block 1-2 is fixedly connected inside the first shell 1-3, a plurality of third telescopic rods 1-1 are symmetrically welded on the fixed block 1-2, the fixed ends of the third telescopic rods 1-1 are welded on the surface of the fixed block 1-2, and the movable end of each third telescopic rod 1-1 is hinged with a support leg 4;

Detailed description of the invention

The embodiment of the present invention disclosed in conjunction with fig. 5 and 6 provides a braking device for a pipeline robot, including: an electric push rod 3-9-1 and a hexagonal prism brake rod 3-9-2; a hexagonal groove is formed in a main shaft of the driven wheel 3-6, an installation groove is formed in the second shell 3-3, an electric push rod 3-9-1 is installed in the groove, the fixed end of the electric push rod 3-9-1 is arranged in the groove and fixedly connected with the second shell 3-3, and a hexagonal prism brake rod 3-9-2 is fixedly connected with the movable end of the electric push rod 3-9-1;

Detailed description of the preferred embodiment

The present embodiment discloses a support leg for a pipeline robot in combination with fig. 2, 3 and 7, comprising: the device comprises a main body 4-1, a second driving motor 4-2, a steering gear 4-3, a threaded driving rod 4-4, a spring 4-5, a fixing rod 4-6 and a contact plate 4-7; one end of a main shaft of a steering gear 4-3 is fixedly connected with the movable end of a third telescopic rod 1-1, the other end of the main shaft of the steering gear 4-3 is rotatably connected with a main body 4-1, a cavity is arranged inside the main body 4-1, a second driving motor 4-2 is arranged inside the main body 4-1, the output end of the second driving motor 4-2 is fixedly connected with a threaded driving rod 4-4, the threaded driving rod 4-4 is meshed with the steering gear 4-3, a plurality of grooves are arranged on the outer side of the main body 4-1, a spring 4-5 and a fixed rod 4-6 are arranged in each groove, a limiting bulge is arranged at the bottom end of each fixed rod 4-6, the bottom end of each fixed rod 4-6 is abutted against one end of the spring 4-5, and the other end of the spring 4-, the top end of the fixed rod 4-6 is provided with a spherical joint, the bottom end face of the contact plate 4-7 is provided with a joint socket, and the spherical joint on the fixed rod 4-6 is arranged in the joint socket at the bottom of the contact plate 4-7;

Detailed description of the invention

The method for the pipeline robot to fit the pipeline wall disclosed in the embodiment with reference to fig. 2, 3 and 7 includes the following steps:

firstly, in the face of pipelines with different sizes and different section shapes, a third telescopic rod 1-1 needs to be debugged in advance, the third telescopic rod 1-1 is shortened until the pipeline can be placed in the pipeline, and then the device is placed in the pipeline;

step two, electrifying the second driving motor 4-2, driving the threaded driving rod 4-4 to rotate by the second driving motor 4-2, because the threaded driving rod 4-4 is meshed with the steering gear 4-3, the threaded driving rod 4-4 rotates and simultaneously drives the main body 4-1 to rotate around the steering gear 4-3 through the second driving motor 4-2, the angle between the main body 4-1 and the third telescopic rod 1-1 is debugged until the support leg 4 is approximately parallel to the pipeline wall, the debugging can be stopped, the power supply to the second driving motor 4-2 is stopped, the second driving motor 4-2 adopts an electromagnetic power-off brake motor, so that the support leg 4 cannot be influenced by external force to change the angle when the second driving motor 4-2 stops working, and the condition that the pipeline robot moves from the pipeline wall is avoided;

and step three, controlling the extension of the third telescopic rod 1-1, driving the contact plate 4-7 to be in contact with the pipeline wall through the main body 4-1 during the extension process of the third telescopic rod 1-1, wherein when the contact plate 4-7 is in contact with the pipeline wall, because the contact plate 4-7 is connected with the top end of the fixing rod 4-6 through a joint, the angle between each contact plate 4-7 and the fixing rod 4-6 can be changed by the extrusion of the pipeline wall and the main body 4-1 when the contact plate 4-7 is in contact with the pipeline wall, and the contact plate 4-7 is attached to the pipeline wall, and the spring 4-5 below each fixing rod 4-6 can drive each contact plate 4-7 to be closely attached to the pipeline wall through the fixing rod 4-6, so that the pipeline robot can be.

Detailed description of the invention

The method for the pipeline robot to walk in the pipeline disclosed in this embodiment with reference to fig. 1 to 4 includes the following steps:

step one, the device is placed into a pipeline, a third telescopic rod 1-1 extends to enable a support leg 4 to be attached to the wall of the pipeline, then the third telescopic rod 1-1 on a stretching driving device 1 located behind is shortened to drive the support leg 4 to be separated from the wall of the pipeline, and all first telescopic rods 2-1 and all second telescopic rods 2-2 are shortened to drive the stretching driving device 1 located behind to move forwards;

step two, extending a third telescopic rod 1-1 on the extension driving device 1 positioned at the rear part to drive the support legs 4 to be attached to the pipeline wall again, then shortening a third telescopic rod 1-1 on the extension driving device 1 positioned at the front part to drive the support legs 4 to be separated from the pipeline wall, extending all the first telescopic rods 2-1 and the second telescopic rods 2-2 to drive the extension driving device 1 positioned at the front part to move forwards, and then extending the third telescopic rod 1-1 on the extension driving device 1 positioned at the front part to enable the support legs 4 to be attached to the pipeline wall again to finish the action similar to the wriggling of insects during walking, so that the walking is more convenient, and the obstacles in the pipeline can be crossed;

and step three, repeating the step one and the step two.

Detailed description of the invention

The method for the pipeline robot to enter the thin pipeline from the thick pipeline disclosed in the embodiment with reference to fig. 1 to 4 comprises the following steps:

firstly, when a thin pipeline appears in the front, firstly, a third telescopic rod 1-1 on a front extension driving device 1 is shortened until the front extension driving device 1 can enter the thin pipeline, and then all first telescopic rods 2-1 and second telescopic rods 2-2 are extended to drive the front extension driving device 1 to enter the thin pipeline;

after entering the thin pipeline, a third telescopic rod 1-1 on the front stretching driving device 1 extends to enable the support legs 4 to be attached to the pipe wall of the thin pipeline;

and step three, shortening a third telescopic rod 1-1 on the extension driving device 1 positioned at the rear part to drive the support legs 4 to be separated from the pipe wall, then shortening a first telescopic rod 2-1 and a second telescopic rod 2-2 to drive the extension driving device 1 positioned at the rear part to enter the thin pipe, and then extending the third telescopic rod 1-1 on the extension driving device 1 positioned at the rear part to vertically attach the support legs 4 to the pipe wall of the thin pipe.

Detailed description of the invention fourteen

The method for turning the pipeline robot in the pipeline with the curvature disclosed in the embodiment with reference to fig. 1 to 7 comprises the following steps:

step one, when a pipeline with a camber is encountered, a third telescopic rod 1-1 on a front extension driving device 1 is contracted to be shortest, and a first telescopic rod 2-1 and a second telescopic rod 2-2 on the rear are extended to drive the front extension driving device 1 to move to a corner;

step two, extending a first telescopic rod 2-1 at one side of a first steering driving device 2 at the front, shortening a first telescopic rod 2-1 at the other side, so as to drive a steering driving rod 2-3 to move, driving a second shell 3-3 through a connecting rod 3-1 while the steering driving rod 2-3 moves, driving a third shell 3-4 through a bearing 3-7 by the second shell 3-3, driving a steering driving rod 2-3 through a connecting piece 3-2 by the third shell 3-4, further driving an extension driving device 1 at the front to do steering motion through the first telescopic rod 2-1 and the second telescopic rod 2-2, then extending the first telescopic rod 2-1 at one side of the first telescopic rod 2-1 on the steering driving device at the front to shorten the first telescopic rod 2-1 at the other side, so that the first telescopic rod 2-1 changes the angle by taking the steering driving rod 2-3 as the center, and the first telescopic rod 2-1 and the second telescopic rod 2-2 positioned in front extend simultaneously while the angle changes, and the extension driving device 1 positioned in front is driven to enter a pipeline after turning;

step three, when the turning direction needs to be changed, for example, the turning direction is changed from the left-right turning direction to the up-down turning direction, the first driving motor 3-8 is supplied with power, the first driving motor 3-8 drives the driven wheel 3-6 through the driving wheel 3-5, the driven wheel 3-6 drives the third shell 3-4 through the toothed teeth, the third shell 3-4 rotates on the second shell 3-3 through the bearing 3-7, the third shell 3-4 drives the first turning driving device 2 to rotate through the connecting piece 3-2 while rotating, so as to change the turning direction, after the direction is adjusted, the electric push rod 3-9-1 pushes the hexagonal prism brake rod 3-9-2 to be inserted into a hexagonal groove preset on a main shaft of the driven wheel 3-6 to brake the driven wheel 3-6, the third shell 3-4 is prevented from rotating under the influence of external force, the method can prevent the pipeline robot from falling off the pipeline due to deformation caused by the influence of external force during and after turning, and the action of turning the pipeline robot in the pipeline is realized.

Detailed description of the invention

The present embodiment discloses a method for walking a pipeline robot with reference to fig. 1 to 7, which includes the following steps:

a, attaching a pipeline robot to a pipeline wall by using the method for attaching the pipeline robot to the pipeline wall as described in the eleventh embodiment;

step b, judging whether the pipeline is a straight pipeline, if:

if yes, entering step c;

if not, entering the step e;

step c, judging whether the thicknesses of the pipelines are consistent, if so:

the pipeline robot walks in the pipeline, and the method of walking in the pipeline by the pipeline robot according to the twelfth embodiment is adopted, and the step a is returned;

if not, go to step d

D, judging whether the pipeline is from coarse to fine, if:

the pipeline robot enters the thin pipeline from the thick pipeline, and the method that the pipeline robot enters the thin pipeline from the thick pipeline according to the thirteenth embodiment is adopted, and the step a is returned;

if not, the pipeline robot enters the thick pipeline from the thin pipeline, and the sequence of the method for entering the thin pipeline from the thick pipeline by the pipeline robot according to the thirteenth embodiment is adopted, and the step a is returned;

step e, the pipeline robot turns in the pipeline with the curvature, and a method for turning the pipeline robot in the pipeline with the curvature as described in the specific embodiment mode fourteen is adopted;

the method can be used for dealing with various conditions, can be suitable for pipelines with different shapes, and ensures that the pipeline robot can work normally under the conditions.

The embodiment is based on the fifteenth embodiment with reference to fig. 1, and the differences are that: the method is realized based on the following pipeline robot, and the pipeline robot comprises: an extension drive 1, a first steering drive 2, a second steering drive 3 and a foot 4; both ends of the second steering driving device 3 are fixedly connected with the movable end of one first steering driving device 2, the fixed end of each first steering driving device 2 is fixedly connected with one end of one extension driving device 1, and a plurality of support legs 4 are hinged on the extension driving device 1;

first turn to drive arrangement 2 and have turn function and flexible function, can drive the second and turn to drive arrangement 3 and carry out the turn motion, first turn to drive arrangement 2 and can extend drive arrangement 1 motion through flexible drive, it has flexible function to extend drive arrangement 1, first turn to drive arrangement 2 and extend drive arrangement 1 and combine together, can accomplish the action of getting into the thin pipeline by thick pipeline, stabilizer blade 4 is articulated with extending drive arrangement 1 and can carry out 135 degrees scope angle modulation, stabilizer blade 4 upper portion takes place to be out of shape, can guarantee inseparable laminating on the pipe wall, the upper portion drive lower part that the second turned to drive arrangement 3 rotates, can drive first turn to drive arrangement 2 redirecting, make first turn to drive arrangement 2 and realize the turn in different position, make the walking of pipeline machine in the pipeline more nimble.

Claims

1. A method for adhering a pipeline robot to a pipeline wall is characterized by comprising the following steps:

the pipe robot includes a support leg (4) for the pipe robot, including: the device comprises a main body (4-1), a second driving motor (4-2), a steering gear (4-3), a threaded driving rod (4-4), a spring (4-5), a fixing rod (4-6) and a contact plate (4-7); one end of a main shaft of a steering gear (4-3) is fixedly connected with the movable end of a third telescopic rod (1-1), the other end of the main shaft of the steering gear (4-3) is rotatably connected with a main body (4-1), a cavity is arranged inside the main body (4-1), a second driving motor (4-2) is arranged inside the main body (4-1), the output end of the second driving motor (4-2) is fixedly connected with a threaded driving rod (4-4), the threaded driving rod (4-4) is meshed with the steering gear (4-3), a plurality of grooves are arranged on the outer side of the main body (4-1), a spring (4-5) and a fixed rod (4-6) are arranged in each groove, a limiting bulge is arranged at the bottom end of the fixed rod (4-6), the bottom end of the fixed rod (4-6) is abutted against one end of the spring (4-5), the other end of the spring (4-5) is abutted against the bottom of the groove, the top end of the fixed rod (4-6) is provided with a spherical joint, the bottom end face of the contact plate (4-7) is provided with a joint socket, and the spherical joint on the fixed rod (4-6) is arranged in the joint socket at the bottom of the contact plate (4-7);

firstly, in the face of pipelines with different sizes and different section shapes, a third telescopic rod (1-1) needs to be debugged in advance, the third telescopic rod (1-1) is shortened until the pipelines can be placed into the pipelines, and then the pipeline robot is placed into the pipelines;

step two, electrifying a second driving motor (4-2), driving a threaded driving rod (4-4) to rotate by the second driving motor (4-2), driving a main body (4-1) to rotate around a steering gear (4-3) by the second driving motor (4-2) when the threaded driving rod (4-4) rotates due to the fact that the threaded driving rod (4-4) is meshed with the steering gear (4-3), debugging the angle of the main body (4-1) and a third telescopic rod (1-1) until a support leg (4) is approximately parallel to the pipeline wall, stopping debugging, supplying power to the second driving motor (4-2), and braking a motor with electromagnetic power loss by the second driving motor (4-2);

and step three, controlling the third telescopic rod (1-1) to extend, driving a contact plate (4-7) to be in contact with the pipeline wall through the main body (4-1) in the extending process of the third telescopic rod (1-1), wherein when the contact plate (4-7) is in contact with the pipeline wall, because the contact plate (4-7) is connected with the top end of the fixing rod (4-6) through a joint, the angle between each contact plate (4-7) and the fixing rod (4-6) can be changed by the extrusion of the pipeline wall and the main body (4-1) when the contact plate (4-7) is in contact with the pipeline wall, and the contact plate is attached to the pipeline wall, and a spring (4-5) below each fixing rod (4-6) can drive each contact plate (4-7) to be closely attached to the pipeline wall through the fixing rod (4-.

2. A method for a pipeline robot to walk in a pipeline is characterized by comprising the following steps:

step one, putting a pipeline robot into a pipeline, extending a third telescopic rod (1-1) to enable a support leg (4) to be attached to the pipeline wall, then shortening the third telescopic rod (1-1) on a rear extension driving device (1) and driving the support leg (4) to be separated from the pipeline wall, and shortening all first telescopic rods (2-1) and second telescopic rods (2-2) to further drive the rear extension driving device (1) to move forwards;

step two, extending a third telescopic rod (1-1) on a rear extension driving device (1) to drive the support legs (4) to be attached to the pipeline wall again, then shortening the third telescopic rod (1-1) on the front extension driving device (1) to drive the support legs (4) to be separated from the pipeline wall, extending all first telescopic rods (2-1) and second telescopic rods (2-2) to drive the front extension driving device (1) to move forwards, and then extending the third telescopic rod (1-1) on the front extension driving device (1) to enable the support legs (4) to be attached to the pipeline wall again;

and step three, repeating the step one and the step two.

3. A method for a pipeline robot to enter a thin pipeline from a thick pipeline is characterized by comprising the following steps:

firstly, when a thin pipeline appears in the front, shortening a third telescopic rod (1-1) on a front extension driving device (1) until the front extension driving device (1) can enter the thin pipeline, and then extending all first telescopic rods (2-1) and second telescopic rods (2-2) to drive the front extension driving device (1) to enter the thin pipeline;

after entering the thin pipeline, extending a third telescopic rod (1-1) on the front extension driving device (1) to enable the support legs (4) to be attached to the pipe wall of the thin pipeline;

and step three, shortening a third telescopic rod (1-1) on the extension driving device (1) positioned behind to drive the support legs (4) to be separated from the pipe wall, then shortening the first telescopic rod (2-1) and the second telescopic rod (2-2) to drive the extension driving device (1) positioned behind to enter the thin pipe, then extending the third telescopic rod (1-1) on the extension driving device (1) positioned behind, and attaching the support legs (4) to the pipe wall of the thin pipe.

4. A method for turning a pipeline robot in a pipeline with a bend is characterized by comprising the following steps:

step one, when a pipeline with a camber is encountered, a third telescopic rod (1-1) on a front stretching driving device (1) is contracted to the shortest, a first telescopic rod (2-1) and a second telescopic rod (2-2) on the rear are extended, and the front stretching driving device (1) is driven to move to a corner;

step two, extending a first telescopic rod (2-1) at one side of a first steering driving device (2) positioned in front, shortening a first telescopic rod (2-1) at the other side, so as to enable a steering driving rod (2-3) to move, driving a second shell (3-3) by the connecting rod (3-1) while the steering driving rod (2-3) moves, driving a third shell (3-4) by the second shell (3-3) through a bearing (3-7), driving the steering driving rod (2-3) by the third shell (3-4) through a connecting piece (3-2) so as to drive an extension driving device (1) positioned behind to do steering movement through the first telescopic rod (2-1) and the second telescopic rod (2-2), and extending the first telescopic rod (2-1) at one side of the steering driving device positioned in front to move the other side of the first telescopic rod (2-1) at the other side of the steering driving device positioned in front 1) Shortening the angle of the first telescopic rod (2-1) by taking the steering driving rod (2-3) as a center, and simultaneously extending the first telescopic rod (2-1) and the second telescopic rod (2-2) in front when the angle is changed to drive the extension driving device (1) in front to enter a pipeline after turning;

step three, when the turning direction needs to be changed, the left and right turning direction is changed into the up and down turning direction, the first driving motor (3-8) is supplied with power, the first driving motor (3-8) drives the driven wheel (3-6) through the driving wheel (3-5), the driven wheel (3-6) drives the third shell (3-4) through teeth, the third shell (3-4) rotates on the second shell (3-3) through the bearing (3-7), the third shell (3-4) drives the first turning driving device (2) to rotate through the connecting piece (3-2) while rotating, so that the turning direction is changed, when the direction is adjusted, the electric push rod (3-9-1) pushes the hexagonal prism brake rod (3-9-2) to be inserted into a hexagonal groove preset on the main shaft of the driven wheel (3-6), the driven wheel (3-6) is braked, and the third shell (3-4) is ensured not to rotate under the influence of external force.

5. A pipeline robot walking method is characterized by comprising the following steps:

step a, the pipeline robot is attached to the pipeline wall by the method of claim 1;

step b, judging whether the pipeline is a straight pipeline, if:

if yes, entering step c;

if not, entering the step e;

step c, judging whether the thicknesses of the pipelines are consistent, if so:

the pipeline robot walks in the pipeline, and returns to the step a by adopting the method of claim 2;

if not, go to step d

D, judging whether the pipeline is from coarse to fine, if:

the pipeline robot enters the thin pipeline from the thick pipeline, and returns to the step a by adopting the method of claim 3;

if not, the pipeline robot enters the thick pipeline from the thin pipeline, and returns to the step a by adopting the reverse sequence of the step three, the step two and the step one of the method as claimed in claim 3;

step e, the pipeline robot turns in the pipeline with the curvature, and the method of claim 4 is adopted.

6. The pipe robot walking method according to claim 5, wherein the pipe robot is implemented based on a pipe robot comprising: the device comprises an extension driving device (1), a first steering driving device (2), a second steering driving device (3) and a support leg (4); both ends of the second steering driving device (3) are fixedly connected with the movable end of one first steering driving device (2), the fixed end of each first steering driving device (2) is fixedly connected with one end of one extension driving device (1), and the extension driving device (1) is hinged with a plurality of support legs (4);

first turn to drive arrangement (2) and have turn function and flexible function, can drive second and turn to drive arrangement (3) and carry out the turn motion, first turn to drive arrangement (2) and can drive extension drive arrangement (1) motion through flexible, extension drive arrangement (1) has flexible function, first turn to drive arrangement (2) and extend drive arrangement (1) and combine together, can accomplish the action of getting into the thin pipeline by thick pipeline, stabilizer blade (4) are articulated and can carry out 0-135 degrees scope angle modulation with extension drive arrangement (1), stabilizer blade (4) upper portion takes place to be deformed, can guarantee inseparable laminating on the pipe wall, the upper portion drive lower part of second turn to drive arrangement (3) rotates, can drive first turn to drive arrangement (2) redirecting, make first turn to drive arrangement (2) realize the turn in different position.