CN110925523A

CN110925523A - Pipeline inspection robot

Info

Publication number: CN110925523A
Application number: CN201911270337.3A
Authority: CN
Inventors: 凌张伟; 杜兴吉; 钟海见; 郭伟灿; 缪存坚
Original assignee: Zhejiang Institute of Special Equipment Science
Current assignee: Zhejiang Institute of Special Equipment Science
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-03-27

Abstract

The invention relates to the technical field of automatic detection. The technical scheme is as follows: a pipeline detection robot comprises a main frame, a plurality of auxiliary frames uniformly arranged around the main frame, and a traveling mechanism arranged on the auxiliary frames; the method is characterized in that: the main frame is provided with a reducing mechanism for controlling the distance between the main frame and the auxiliary frame; the reducing mechanism comprises a connecting frame arranged at the front part of the main frame, a driving mechanism arranged in the main frame and used for pushing the connecting frame to move axially, a first connecting rod and a second connecting rod, two ends of which are respectively and rotatably hinged on the main frame and each auxiliary frame, a reducing elastic supporting rod, a controller and a pressure sensor, wherein the two ends of the reducing elastic supporting rod are respectively and rotatably hinged on the connecting frame and each auxiliary frame; in each auxiliary frame, the main frame, the auxiliary frame, the first connecting rod and the second connecting rod form a parallelogram mechanism. The robot can automatically adapt to the change of pipe diameters and has the characteristics of simple structure and convenience in control.

Description

Pipeline inspection robot

Technical Field

The invention relates to the technical field of automatic detection, in particular to a pipeline detection robot.

Background

The pipeline robot is adopted by most large and medium oil and gas conveying pipeline operations. In practical application, a large number of irregular pipelines with various non-circular shapes such as a glue protruding shape and a glue sinking shape exist in the pipeline, and reducer pipes for connecting relatively thick pipelines and thin pipelines also exist, so that the pipeline robot driving unit is required to be capable of carrying out reducer adjustment in real time: the spring resetting and diameter changing mode is adopted, so that the advantages of simple structure and convenient design are achieved, but the traction force of each driving module is difficult to keep consistent; by adopting an active diameter-changing mode, the robot runs in an environment with unknown pipeline parameters, the real-time performance and flexibility of diameter-changing are not ideal enough, and a control system is complex.

If a pipeline robot driving unit with a mechanical self-adaptive function is developed, the rotating speed of each driving wheel can be automatically adjusted in real time according to geometric information in a pipeline, and the method has great significance for improving the driving efficiency of the pipeline robot driving unit.

Disclosure of Invention

The invention aims to overcome the defects in the background technology and provide a pipeline detection robot which can automatically adapt to the change of pipe diameters and has the characteristics of simple structure and convenience in control.

The technical scheme of the invention is as follows:

a pipeline detection robot comprises a main frame, a plurality of auxiliary frames uniformly arranged around the main frame, and a traveling mechanism arranged on the auxiliary frames; the method is characterized in that: the main frame is provided with a reducing mechanism for controlling the distance between the main frame and the auxiliary frame;

the reducing mechanism comprises a connecting frame arranged at the front part of the main frame, a driving mechanism arranged in the main frame and used for pushing the connecting frame to move axially, a first connecting rod and a second connecting rod, two ends of which are respectively and rotatably hinged on the main frame and each auxiliary frame, a reducing elastic supporting rod, a controller and a pressure sensor, wherein the two ends of the reducing elastic supporting rod are respectively and rotatably hinged on the connecting frame and each auxiliary frame;

in each auxiliary rack, the main rack, the auxiliary rack, the first connecting rod and the second connecting rod form a parallelogram mechanism, and the axis of a hinge shaft of each connecting rod is parallel to the axis of a hinge shaft of the variable-diameter elastic supporting rod; the controller is connected with the driving mechanism and the pressure sensor.

The driving mechanism comprises a driving motor arranged in the main frame, a screw rod rotatably positioned on the main frame, a speed reducer connecting the screw rod and the driving motor, and a nut fixed on the connecting frame and meshed with the screw rod; the controller is connected with the driving motor; the pressure sensor is arranged between the connecting frame and the nut.

The axis of a hinge shaft between the reducing elastic support rod and the auxiliary frame and the axis of a hinge shaft between the first connecting rod and the auxiliary frame are positioned on the same straight line.

The diameter-variable elastic support rod comprises a first rod body, a second rod body and a spring, wherein the second rod body can be axially and slidably positioned in an inner cavity of the first rod body, and the spring is arranged in the inner cavity of the first rod body and used for pushing the second rod body.

The connecting frame is provided with a camera.

The walking mechanism comprises a first wheel shaft and a second wheel shaft which are rotatably positioned in the auxiliary frame, a pair of driving wheels fixed at two ends of the first wheel shaft, a pair of driven wheels fixed at two ends of the second wheel shaft, a walking motor fixed in the auxiliary frame, a bevel gear group for transmitting power of the walking motor to the first wheel shaft, and crawler belts respectively sleeved on the driving wheels and the driven wheels at the same side.

The invention has the beneficial effects that:

the invention uniformly distributes a plurality of (preferably three) auxiliary frames along the circumference, each auxiliary frame is provided with an independent walking mechanism and can smoothly pass through the elbow, and the three auxiliary frames are controlled and adjusted by the reducing mechanism and can simultaneously contract and expand, thereby adapting to the environment of the pipeline with the variable pipe diameter and completing the internal detection operation of the reducing pipeline.

Drawings

Fig. 1 is a schematic front view of the present invention.

Fig. 2 is a schematic sectional view taken along the line a-a in fig. 1.

Fig. 3 is a schematic structural view of the traveling mechanism in fig. 2.

Fig. 4 is a schematic structural view of the variable diameter elastic support rod of the present invention.

Detailed Description

The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following examples.

As shown in fig. 1, a pipeline inspection robot includes a main frame 14, a plurality of sub-frames 7, a traveling mechanism, and a diameter-changing mechanism. The auxiliary frames are uniformly arranged around the main frame, the number of the auxiliary frames is generally three, each auxiliary frame is provided with a walking mechanism, and the reducing mechanism is arranged between the main frame and the auxiliary frames and used for controlling the distance between the main frame and the auxiliary frames, so that the three auxiliary frames can be accurately controlled to be simultaneously opened and retracted, and the auxiliary frames are suitable for different pipe diameters.

The reducing mechanism comprises a connecting frame 3, a driving mechanism, a first connecting rod 6, a second connecting rod 8, a reducing elastic supporting rod 4 and a controller (omitted in the figure). The connecting frame is arranged at the front part of the main frame (the left side of the main frame in fig. 2), two ends of the first connecting rod and the second connecting rod are respectively and rotatably hinged on the main frame and the auxiliary frames, and the main frame, the auxiliary frames, the first connecting rod and the second connecting rod form a parallelogram mechanism. Two ends of the reducing elastic support rod are respectively and rotatably hinged on the connecting frame and each auxiliary frame. The axis of the articulated shaft of the first connecting rod, the axis of the articulated shaft of the second connecting rod and the axis of the articulated shaft of the reducing elastic supporting rod are parallel to each other. The axis of a hinge shaft between the reducing elastic support rod and the auxiliary frame and the axis of a hinge shaft between the first connecting rod and the auxiliary frame are positioned on the same straight line. Be equipped with camera 1 on the link, the camera passes through mount pad 2 and is fixed with the link, and the camera is used for surveing intraductal situation.

The driving mechanism is used for pushing the connecting frame to move axially, and the connecting frame drives the parallelogram mechanisms around the main frame to be simultaneously retracted and extended through the diameter-variable elastic supporting rods, so that the diameter variation of the robot is realized.

In the driving mechanism, a driving motor 13 is fixed in a main frame, a screw rod 10 is arranged between the main frame and a connecting frame and can be rotatably positioned on a central axis B of the main frame, a speed reducer 12 is used for transmitting the power of the driving motor to the screw rod, a nut 5 is fixed on the connecting frame and is meshed with the screw rod, and a pressure sensor 11 is further arranged between the connecting frame and the nut. When the driving motor works, the connecting frame is driven to axially move through the lead screw and the nut, and then the connecting frame drives the auxiliary frames to be simultaneously unfolded or retracted through the reducing elastic supporting rods. The main frame, the connecting frame, the lead screw and the nut are coaxially arranged.

The diameter-variable elastic support rod comprises a first rod body 4-1 (tubular rod body), a second rod body 4-2 which can be axially and slidably positioned in the inner cavity of the first rod body, and a spring 4-3 which is arranged in the inner cavity of the first rod body and used for pushing the second rod body. The reducing elastic support rod can ensure that the robot automatically adapts to sudden small changes in the radial direction of the pipeline, so that the robot has the capability of passing through obstacles or bent pipes and also has the functions of buffering and absorbing vibration.

The controller is respectively connected with the driving motor and the pressure sensor. The controller can adopt a PLC controller.

The running mechanism is a crawler belt mechanism and comprises a first wheel shaft 19, a second wheel shaft 22, a pair of driving wheels 20, a pair of driven wheels 23, a running motor 15, a bevel gear group and a crawler belt 21. The first wheel shaft and the second wheel shaft are rotatably positioned in the auxiliary machine frame, the first wheel shaft and the second wheel shaft are perpendicular to the central axis of the main machine frame, the driving wheels are respectively fixed at two ends of the first wheel shaft, the driven wheels are respectively fixed at two ends of the second wheel shaft, the two crawler belts are respectively sleeved on the driving wheels and the driven wheels which are positioned on the same side of the auxiliary machine frame (when the two crawler belts simultaneously contact the inner wall of a detected pipeline during operation), the walking motor is fixed in the auxiliary machine frame, and the bevel gear set is used for transmitting the power of the walking motor to the. The bevel gear set comprises a driving gear 17 fixed with an output shaft of the walking motor through a coupler 16 and a driven gear 18 fixed on the first wheel shaft and meshed with the driving gear.

The invention detects the pressure between the auxiliary frame, the walking mechanism and the pipeline 9 through the pressure sensor, and ensures that the walking mechanism can be tightly supported on the inner wall of the pipeline by stable pressing force, thereby having sufficient and stable traction force.

When the controller monitors that the pressure value of the pressure sensor is greater than a certain preset value, the controller starts the driving motor, and the driving motor pushes the connecting frame to horizontally move leftwards, so that the opening angle of the parallelogram mechanism is reduced, and the pressure of the travelling mechanism on the pipeline is reduced; on the contrary, when the controller monitors that the pressure value of the pressure sensor is smaller than a certain preset value, the controller starts the driving motor (the driving motor rotates reversely), and the driving motor pushes the connecting frame to move horizontally rightwards, so that the opening angle of the parallelogram mechanism is increased, and the pressure of the walking mechanism on the pipeline is increased; when the running gear props up the pipeline tightly, the controller monitors whether the driving motor is in a locked-rotor state (the rotating speed signal of the driving motor is transmitted to the controller after being converted by the photoelectric encoder), if the locked-rotor state is detected, the quadrilateral mechanism cannot be expanded, and the controller stops the driving motor (the motor is prevented from being damaged).

Claims

1. A pipeline inspection robot, comprising a main frame (14), several sub-frames (7) evenly arranged around the main frame, and a running mechanism arranged on the sub-frame; it is characterized in that: the main frame is provided with There is a reducing mechanism for controlling the distance between the main frame and the sub-frame;

The diameter reducing mechanism includes a connecting frame (3) arranged at the front of the main frame, a driving mechanism arranged in the main frame for pushing the connecting frame to move axially, and both ends are rotatably hinged on the main frame and each auxiliary frame respectively. The first connecting rod (6) and the second connecting rod (8) on the frame, the variable diameter elastic support rods (4) whose ends are rotatably hinged on the connecting frame and each sub-frame respectively, a controller, and a drive The pressure sensor (11) matched by the mechanism;

In each of the sub-frames, the main frame, the sub-frame, the first link and the second link form a parallelogram mechanism, and the hinge axis of each link is parallel to the hinge axis of the variable diameter elastic support rod; The controller connects the drive mechanism and the pressure sensor.

2. A pipeline inspection robot according to claim 1, characterized in that: the drive mechanism comprises a drive motor (13) arranged in the main frame, a lead screw (10) rotatably positioned on the main frame , a reducer (12) connecting the screw rod and the driving motor, a nut (5) fixed on the connecting frame and engaging with the screw rod; the controller is connected to the driving motor; the pressure sensor is arranged between the connecting frame and the nut .

3 . The pipeline inspection robot according to claim 2 , wherein the axis of the hinge shaft between the variable diameter elastic support rod and the auxiliary frame and the hinge shaft between the first link and the auxiliary frame are 3 . The axes lie on the same straight line.

The pipeline inspection robot according to claim 3, characterized in that: the variable diameter elastic support rod comprises a first rod body (4-1), a A second rod body (4-2), and a spring (4-3) arranged in the cavity of the first rod body for pushing the second rod body.

5 . The pipeline inspection robot according to claim 4 , wherein a camera ( 1 ) is provided on the connecting frame. 6 .

6. A pipeline inspection robot according to claim 5, characterized in that: the walking mechanism comprises a first axle (19) and a second axle (22) rotatably positioned in the sub-frame, fixed on the first axle (19) and the second axle (22) A pair of driving wheels (20) at both ends of the wheel shaft, a pair of driven wheels (23) fixed at both ends of the second wheel shaft, a travel motor (15) fixed in the sub-frame, and a cone for transmitting the power of the travel motor to the first wheel shaft The gear set and the crawler belts (21) respectively fitted on the driving wheel and the driven wheel on the same side.