CN112944110A

CN112944110A - Pipeline robot and pipeline detection device

Info

Publication number: CN112944110A
Application number: CN202110376446.4A
Authority: CN
Inventors: 代毅; 刘耀森; 余先利; 董福良
Original assignee: Shenzhen Bominwell Robotics Co ltd
Current assignee: Shenzhen Bominwell Robotics Co ltd
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-06-11

Abstract

The invention discloses a pipeline robot and a pipeline detection device, wherein the pipeline robot is used for detecting defects of a pipeline; the pipeline robot includes: a steering assembly including a rotating shaft; an adjustment assembly coupled to the rotatable shaft and disposed in the fluid inside the conduit; wherein an axial direction of the rotation shaft is parallel to a traveling direction of the pipeline robot and is perpendicular to a propulsion direction of the adjustment assembly. The technical scheme of the invention aims to solve the technical problem that the robot in the prior art is difficult to adapt to a complex pipe network under the condition of not stopping normal operation.

Description

Pipeline robot and pipeline detection device

Technical Field

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

Background

The pipeline is used as necessary conveying equipment in the fluid industry, and plays a role in lifting weight in the urban construction process. The burst and explosion accidents of the pipeline occur sometimes, so that the living resources of residents in a short period cannot be guaranteed, and the personnel are injured seriously. Therefore, pipeline defect detection is a rigid requirement for the pipeline transportation industry.

Conventionally, a pipeline robot is equipped with a detection device and is sent into the pipeline to detect the pipeline. The pipeline inner structure is complicated, branch lines are more, valves are more, and the robot in the prior art is difficult to adapt to a complicated pipe network under the condition of normal operation without stopping.

Disclosure of Invention

The invention mainly aims to provide a pipeline robot, and aims to solve the technical problem that the robot in the prior art is difficult to adapt to a complex pipe network without stopping normal operation.

In order to achieve the above object, the present invention provides a pipeline robot for performing defect detection on a pipeline; the pipeline robot includes:

a steering assembly including a rotating shaft;

an adjustment assembly coupled to the rotatable shaft and disposed in the fluid inside the conduit;

wherein an axial direction of the rotation shaft is parallel to a traveling direction of the pipeline robot, and the axial direction of the rotation shaft is perpendicular to a propulsion direction of the adjustment assembly.

Optionally, the adjustment assembly comprises a barrel having a fluid passage extending along a first end thereof to a second end thereof; the drive shaft is rotatably disposed within the fluid passage; the paddles are connected to the driving shaft and arranged in a circumferential direction of the driving shaft.

Optionally, the adjusting assembly further comprises a connecting rod and a fixing ring, and the driving shaft is rotatably connected with the fixing ring; two ends of the first connecting rod are respectively connected with the cylinder body and the fixing ring; the first connecting rods are circumferentially arranged on the fixing ring, and a gap is formed between every two circumferentially adjacent first connecting rods.

Optionally, the adjustment assembly further comprises an avoidance driving member for driving the driving shaft to rotate.

Optionally, the pipeline robot further comprises a first cabin body, and the rotating shaft extends out of the first cabin body in a sealing mode from the inside of the first cabin body so as to be connected with the adjusting assembly.

Optionally, the steering assembly comprises a steering drive for driving the rotating shaft to rotate so as to drive the adjustment assembly; the steering driving piece is arranged in the first cabin body.

Optionally, the pipeline robot further comprises a second cabin and a second connecting rod, and the second cabin is internally provided with a detection device; the two ends of the second connecting rod are respectively connected with the second cabin and the first cabin, wherein the second connecting rod extends in the axial direction of the rotating shaft, so that an axial space is limited by the second cabin and the first cabin, and the adjusting assembly is arranged in the axial space.

Optionally, the pipeline robot further comprises a traction assembly, the traction assembly comprising: the traction part is rotatably arranged on the outer wall of the second cabin body, and the traction umbrella is connected with the traction part.

Optionally, the pipeline robot further comprises a cable extending hermetically into the first bay.

In a second aspect, the present invention also provides a pipeline inspection device, which includes the pipeline robot as described above.

In the technical scheme of the invention, the axial direction of the rotating shaft is parallel to the advancing direction of the pipeline robot, and the adjusting component is connected with the rotating shaft in a manner that the propelling direction of the adjusting component is perpendicular to the axial direction, so that when the pipeline robot encounters an obstacle or needs to enter a branch pipe, the rotating shaft drives the adjusting component to rotate around the axial line of the adjusting component so as to adjust the propelling direction of the adjusting component; at the moment, the adjusting component pushes the pipeline robot to the opposite direction of the obstacle to avoid the obstacle; or to push the pipeline robot to the side having the branch pipe to be able to enter the branch pipe by the power of the fluid. Therefore, the technical scheme of the invention can enter the branch pipe to be detected or avoid obstacles such as valves and the like in a complex pipeline by means of the power of fluid.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic cross-sectional view of a pipeline robot of the present invention;

FIG. 2 is a perspective view of the steering assembly and adjustment assembly of the present invention;

FIG. 3 is a schematic view of the steering assembly and adjustment assembly of the present invention from a perspective;

FIG. 4 is a cross-sectional view of the steering assembly and adjustment assembly of the present invention;

fig. 5 is a schematic perspective view of the pipe robot of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Steering assembly	200b	Drive shaft
200	Adjusting assembly	200c	Blade
				300	First cabin body	200d	Fluid channel
400	Second cabin	200e	First connecting rod
				500	Second connecting rod	200f	Fixing ring
600	Traction assembly	200g	Transition disc
				700	Cable with a flexible connection	300a	Cover body
S	Axial space	300b	Sealing ring
				100a	Rotating shaft		300c	Bearing assembly
100b	Rotary driving member	600a	Traction element
				200a	Barrel body	600b	Traction umbrella

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.

In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

Pipeline defect detection is a rigid requirement for the pipeline transportation industry. The pipeline robot walks in the pipeline by carrying detection equipment so as to detect the defects of the pipeline. However, due to the complex network, many branch lines and many auxiliary devices such as valves, the walking of the pipeline robot is obstructed by the devices such as the valves when the pipeline robot flows in the pipeline, and the obstacle cannot be avoided; alternatively, the pipeline robot cannot "flow" to the branch line when it encounters the branch line.

Therefore, the pipeline robot in the prior art is difficult to adapt to a mode of normal operation detection without stopping the pipeline. Non-stop normal operation detection is a way to detect defects in a pipeline when the pipeline normally conveys fluid, that is, detect defects in the pipeline under the condition that the pressure in the pipeline is at the working pressure, such as a water-filled state, an oil-filled state or an air-filled state.

One type of pipeline robot takes advantage of the homeopathic "flow" dynamics of the fluid to perform defect detection on the pipeline.

Therefore, the invention provides a pipeline robot, in particular to a pipeline robot which obtains the power of flowing along the situation by means of the power of fluid, can avoid obstacles or select pipelines to detect defects, and provides reliable equipment for normal operation detection without stopping. Referring to fig. 1, the pipeline robot includes:

a steering assembly 100, the steering assembly 100 including a rotating shaft 100 a;

an adjusting assembly 200, wherein the adjusting assembly 200 is connected to the rotating shaft 100a, and the adjusting assembly 200 is placed in the fluid inside the pipeline, so that the adjusting assembly 200 can rotate around the axis of the rotating shaft 100a to adjust the advancing direction of the adjusting assembly 200;

wherein the axis of the rotation shaft 100a is parallel to the traveling direction of the pipeline robot and perpendicular to the propulsion direction of the adjustment assembly 200.

In the present invention, the axial direction of the rotating shaft 100a is parallel to the traveling direction of the pipeline robot, and the adjusting assembly is connected to the rotating shaft 100a in such a manner that the propulsion direction thereof is perpendicular to the axial direction, so that when the pipeline robot encounters an obstacle or needs to enter a branch pipe, the rotating shaft 100a drives the adjusting assembly 200 to rotate around the axis thereof, so as to adjust the propulsion direction of the adjusting assembly 200; at this time, the adjusting assembly 200 pushes the pipeline robot to the opposite direction of the obstacle to avoid the obstacle; or to push the pipeline robot to the side having the branch pipe to be able to enter the branch pipe by the power of the fluid. Therefore, the technical scheme of the invention can enter the branch pipe to be detected or avoid obstacles such as valves and the like in a complex pipeline by means of the power of fluid.

It should be noted that the adjustment assembly 200 may include a force-receiving member that interacts with the fluid; for example, the force-bearing component may be a propeller driven by a propeller shaft; the shaft is driven by an electric motor or a motor. For example, the adjustment assembly 200 may include a housing, a front cover, a rear cover, a shaft, and a propeller; specifically, the rear end of the housing is hermetically connected with a rear cover, a motor fixed in the housing, a propeller shaft arranged in the front cover through a bearing, and a propeller installed at one end of the propeller shaft, wherein a rotating shaft of the motor is connected with the other end of the propeller shaft through a coupler, and the rotating shaft 100a is fixedly connected with the housing.

As a further modification of the above embodiment, the adjustment assembly 200 includes a cylinder 200a, a driving shaft 200b and a paddle 200 c; the paddle 200c is used as a force-bearing part interacting with the fluid, so that the fluid reacts on the paddle and generates thrust on the pipeline robot; the cylinder 200a has a fluid channel 200d extending from a first end to a second end thereof; the drive shaft 200b is rotatably disposed within the fluid passage 200 d; the paddles 200c are coupled to the driving shaft 200c and arranged in the circumferential direction of the driving shaft 200 b. The driving shaft 200b rotates to drive the paddle 200c to rotate, the paddle 200c acts on the fluid, the fluid generates a reaction force thrust to the paddle 200c, and then the pipeline robot is pushed to move transversely to avoid the obstacle or approach the branch pipe. Specifically, as shown in fig. 2 or 3, three blades 200c may be provided, and each blade may have a fan shape; the three blades 200c are circumferentially and uniformly distributed and connected on the outer wall of the driving shaft 200 b; of course, the person skilled in the art can arrange the paddles 200c in more than three for the purpose of enabling the fluid to exert a force on the driving shaft 200c when it rotates to push the pipeline robot to move.

As a further solution to the above embodiment, the adjusting assembly 200 further includes a first connecting rod 200e and a fixing ring 200f, and the driving shaft 200b is rotatably connected to the fixing ring 200 f; referring to fig. 3, two fixing rings 200f may be provided, respectively disposed at both ends of the driving shaft 200b, for respectively assembling the driving shaft 200 b; preferably, the fixing ring 200f includes a bearing (not shown) and an outer housing, the bearing being embedded in the outer housing to form a unitary structure; the fixed ring 200f provides support for the drive shaft, and the drive shaft is clearance fitted with bearings so that the drive shaft 200b can rotate. Further, both ends of the first connecting rod 200e are respectively connected with the cylinder 200a and the fixing ring 200 f; namely: the first connecting rod 200e extends from the outer wall of the fixing ring 200f to the inner wall of the fixing ring 200f so that the driving shaft 200b and the paddles 200c are maintained at the position of the fluid passage; further, the first connecting rods 200e are multiple and circumferentially arranged in the fixing ring 200f, and a gap is formed between two circumferentially adjacent first connecting rods. The gap is mainly used for enabling fluid in the pipeline to enter the fluid channel so as to act on the blade and further generate thrust.

As a further development of the above embodiment, the adjustment assembly 200 further includes a bypass drive (not shown) for driving the drive shaft in rotation. In the present invention, the number of the fixing rings 200f is two, an avoidance driving member may be disposed in one of the fixing members, and a base of the avoidance driving member is installed in the fixing ring 200f and then connected to the driving shaft 200b to drive the driving shaft 200b to rotate. The avoidance driving part can be a motor, a motor and the like.

As a further aspect of the above embodiment, the pipeline robot further includes a first chamber 300; the axial direction of the first nacelle 300 is the axial direction of the rotating shaft 100 a; the rotating shaft 100a extends from the inside of the first chamber to the outside of the first chamber in a sealing manner to be connected to the adjusting assembly 200. Specifically, referring to fig. 4 and 5, the first cabin 300 includes a cover 300a facing the adjustment assembly 200; the cover body 300a is provided with a hole, the inner wall of the hole is provided with a groove, and a sealing ring 300b is embedded in the groove; and, a bearing 300c for supporting the rotating shaft 100a is fixed in the hole. The rotating shaft 100a extends to the outside of the cover 300a to be connected to the adjustment assembly 200 through the bearing 300c and the sealing ring 300b in sequence. The adjustment assembly 200 further includes a transition disk 200 g; specifically, a section of the rotating shaft 100a extending out of the cover 300a is disc-shaped, the rotating shaft 100a is connected with the transition dial 200g, and the rotating shaft 100a and the transition dial 200g can be connected by screws.

As a further solution to the above embodiment, referring to fig. 2, the steering assembly 100 includes a steering driving member 100b for driving the rotating shaft 100a to rotate so as to drive the adjusting assembly 200; the steering driving piece is arranged in the first cabin body. Specifically, the steering driver 100b includes an electric motor or a motor; the steering driver 100b can directly drive the rotating shaft 100a to rotate, for example, a direct drive motor can directly drive the rotating shaft 100a to rotate. Furthermore, the steering drive 100b may further include a transmission mechanism, such as a gear transmission, a worm gear transmission, etc.; in fig. 2, the motor drives a first gear, which drives a second gear, which is keyed to the rotating shaft 100 a. When the pushing direction of the adjusting assembly 200 needs to be adjusted, the motor is started, so that the first gear drives the second gear to rotate, and further drives the rotating shaft 100a to rotate.

As a further scheme of the above embodiment, the pipeline robot further includes a second cabin 400 and a second connecting rod 500, and the second cabin 400 is internally provided with a detection device; the second capsule 400 is constructed in a hollow structure, and the detection device is installed inside by means of a stud, a thread, welding, or the like. Both ends of the second connecting rod 500 are respectively connected with the second cabin 400 and the first cabin 300; specifically, referring to fig. 1 or 5, the second connecting rod 500 extends in the axial direction of the rotating shaft 100a, so that the second nacelle 400 and the first nacelle 300 define an axial space S in which the adjusting assembly 200 is installed. Namely: in the invention, the adjusting component 200 is arranged at the middle position of the pipeline robot, namely, at the position closer to the gravity center of the avoidance robot; compare and install adjusting part 200 at the pipeline robot both ends for the propulsive force that adjusting part 200 produced can not make the pipeline robot produce the torque, prevents that the pipeline robot from beating in the pipeline and changeing.

As a further aspect of the above embodiment, the pipeline robot further includes a traction assembly 600, and the traction assembly 600 includes: a towing member 600a rotatably provided on an outer wall of the second cabin 500, and a towing umbrella 600b (not shown in the perspective view) connected to the towing member. Referring to fig. 1 or 5, the towing members 600a are arranged along the uniform circumference of the second nacelle 500, and a towing umbrella 600b is connected between two adjacent towing members 600a, thereby forming a towing assembly; the traction assembly resembles an umbrella in shape; the fluid acts on the traction umbrella such that the traction member 600a is opened, so that the pipeline robot generates a forward power by the fluid, and the pipeline robot "flows" along with it. Specifically, a fixed shaft is formed on the outer wall of the second cabin 500, and one end of the traction member 600a is formed with a rotation hole adapted to the fixed shaft, the rotation hole being intermittently engaged with the fixed shaft, so that the traction member 600a can be unfolded when the traction umbrella is acted on by fluid.

As a further solution to the above embodiment, the pipeline robot further includes a cable 700, and the cable 700 is extended into the first cabin 400 in a sealed manner. The cable 700 is externally connected with the cable car, and the cable 700 is used for data transmission and signal transmission between the pipeline robot and external equipment. The first cabin 400 includes an end cover fixedly connected with a waterproof connector, and the cable 700 is inserted into the waterproof connector and is in interference fit with the waterproof connector to extend into the first cabin 400.

As a further solution to the above embodiment, the pipeline robot further comprises a visual sensing component, such as a camera, an infrared imaging device, to identify obstacles in the pipeline. Preferably, the visual sensing assembly may be disposed on the first and/or second cabin, respectively.

The invention also provides a pipeline detection device, which comprises a pipeline robot; the specific structure of the pipeline robot refers to the above embodiments, and since the pipeline detection device adopts all technical solutions of all the above embodiments, all beneficial effects brought by the technical solutions of the above embodiments are at least achieved, and are not repeated here.

The above description is only an alternative embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A pipeline robot for defect detection of a pipeline, the pipeline robot comprising:

a steering assembly including a rotating shaft;

the adjusting assembly is connected with the rotating shaft, so that the adjusting assembly can rotate around the axis of the rotating shaft to adjust the propelling direction of the adjusting assembly; and the trim component is disposed in the fluid inside the conduit;

2. The pipeline robot of claim 1, wherein the adjustment assembly comprises a cylinder, a drive shaft, and a paddle,

the cylinder body is provided with a fluid channel which extends from the first end to the second end of the cylinder body;

the drive shaft is rotatably disposed within the fluid passage;

the paddles are connected to the driving shaft and arranged in a circumferential direction of the driving shaft.

3. The pipeline robot of claim 2, wherein the adjustment assembly further comprises a first connecting rod and a fixing ring,

the driving shaft is rotationally connected with the fixed ring;

two ends of the first connecting rod are respectively connected with the cylinder body and the fixing ring;

the first connecting rods are circumferentially arranged on the fixing ring, and a gap is formed between every two circumferentially adjacent first connecting rods.

4. The pipeline robot of claim 3 wherein the adjustment assembly further comprises an avoidance drive for driving the drive shaft in rotation.

5. The pipeline robot of any one of claims 1 to 4, further comprising a first housing,

the rotating shaft extends out of the first cabin body in a sealing mode from the inside of the first cabin body so as to be connected with the adjusting assembly.

6. The pipeline robot of claim 5, wherein the steering assembly comprises a steering driving member for driving the rotating shaft to rotate to drive the adjusting assembly;

the steering driving piece is arranged in the first cabin body.

7. The pipeline robot of claim 5, further comprising a second tank body in which the detection device is installed, and a second connection rod;

two ends of the second connecting rod are respectively connected with the second cabin body and the first cabin body,

wherein the second connecting rod extends in an axial direction of the rotating shaft so that the second nacelle and the first nacelle define an axial space in which the adjustment assembly is installed.

8. The pipeline robot of claim 7, further comprising a traction assembly, the traction assembly comprising:

a traction piece rotatably arranged on the outer wall of the second cabin body,

a traction umbrella connected with the traction member.

9. The pipeline robot of claim 5, further comprising a cable that extends sealingly into the first bay.

10. A pipeline inspecting apparatus, characterized in that it comprises the pipeline robot according to any one of claims 1 to 9.