CN113217749A

CN113217749A - Pipeline operation robot

Info

Publication number: CN113217749A
Application number: CN202110453540.5A
Authority: CN
Inventors: 朱浩; 秦杰
Original assignee: Individual
Current assignee: Zhongzhu Jianda Beijing Construction Co ltd; Zhu Wenshuang
Priority date: 2021-04-26
Filing date: 2021-04-26
Publication date: 2021-08-06
Anticipated expiration: 2041-04-26
Also published as: CN113217749B

Abstract

The invention belongs to the technical field of robots, in particular to a pipeline operation robot, which comprises a machine main body, a sleeve, a supporting plate and a group of advancing units, wherein the sleeve is arranged on the machine main body; the machine main body is semi-cylindrical and is sealed, and a sleeve is sleeved in the middle of the machine main body; three groups of supporting plates are uniformly and circumferentially arranged on the outer surface of the sleeve, and one ends of the two adjacent supporting plates, which are far away from the sleeve, are fixedly connected with advancing units; when the robot moves ahead in the pipeline, because the pipeline is long-term to work, produce the moss on the pipeline inner wall, after the robot contacted the moss, because the robot is trident arm structure, the robot supported on the pipeline inner wall from three angle, and the length of bracing piece is the same for the robot can't turn on one's side, avoid the robot to contact behind the moss, the great heeling angle of emergence range leads to turning on one's side, the possibility that can't move ahead increases the skid resistance of robot.

Description

Pipeline operation robot

Technical Field

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

Background

With the rapid development of the industrialization process, the equipment related to the pipelines is widely applied, and the pipelines need to be regularly checked, cleaned, maintained and the like. At present, the operation mode of a robot surrounding a pipeline is mainly that the pipeline is broken into openings at intervals, the robot is thrown into the pipeline, and the robot carries an operation mechanism to perform related operations on the inner wall of the pipeline. The pipeline robot in the market is mainly a structural design integrating driving and operation, and the stability of the robot operation depends on the stability of the chassis to a great extent.

A technical scheme related to a pipeline operation robot also appears in the prior art, and for example, a chinese patent with application number CN2010102408708 discloses a pipeline robot, which comprises a vehicle body, wheels, a flexible wheel shaft connecting the vehicle body and the wheels, and a swing link slider mechanism connected with the vehicle body and the flexible wheel shaft and used for adjusting an included angle between the wheels and the vehicle body; the pipeline robot body also comprises a base on the mobile carrier, a cloud deck, a rod mechanism for connecting the cloud deck and the base, a lighting lamp on the cloud deck and a camera connected with the cloud deck; according to the technical scheme, the driving wheels are connected with the vehicle body through the flexible shafts, so that the included angle between the wheels and the pipeline robot body is adjustable, the outer edges of the wheels of the robot are vertically contacted with the wall surface, the contact area between the outer edges of the wheels and the wall surface of the pipeline is increased, the robot runs more stably in the pipeline, and a larger driving force is provided; however, the pipeline robot can work in a pipeline with liquid, when the pipeline robot works in a drainage pipe, the moss grows in a part of the area with long drainage time of the drainage pipe and is easy to slide, the pipeline robot moves through the moss area, and a driving wheel slides on the moss and cannot move forward, so that the pipeline robot cannot work normally; when the wheeled robot runs in a pipeline, the pose of each wheel of the wheeled robot in the pipeline is unpredictable, the axial direction of the wheel is possibly not perpendicular to the radius direction of the circular pipe, and motion interference occurs, so that the robot deviates from the correct pose in the pipeline and even turns over and is stuck.

In view of the above, the present invention provides a pipeline working robot, which solves the above problems.

Disclosure of Invention

The invention provides a pipeline operation robot, which aims to make up the defects of the prior art and solve the problem that when a wheeled robot has foreign matters and moss in a pipeline, the possibility of sideslip occurs, so that the robot deviates from a correct posture in the pipeline, even turns over and is stuck.

The technical scheme adopted by the invention for solving the technical problems is as follows: the invention relates to a pipeline operation robot, which comprises a machine main body, a sleeve, a supporting plate and a group of advancing units, wherein the sleeve is arranged on the machine main body; the machine main body is semi-cylindrical and is sealed, and a sleeve is sleeved in the middle of the machine main body; three groups of supporting plates are uniformly and circumferentially arranged on the outer surface of the sleeve, and one ends of the two adjacent supporting plates, which are far away from the sleeve, are fixedly connected with advancing units; the travelling unit comprises a shell, a motor, a group of triangular discs and a group of rollers; two sides of the shell are fixedly connected with one ends of the two adjacent supporting plates far away from the sleeve, and a first cavity and a second cavity are respectively formed in the positions, corresponding to the adjacent supporting plates, in the shell; a motor is arranged in the second cavity, and an output shaft of the motor penetrates through the inner wall of the second cavity and is positioned in the first cavity; the triangular disc is arranged in the first cavity, the triangular discs are close to the inner walls of the two sides of the corresponding support plate of the first cavity, the triangular disc far away from the motor is rotatably connected with the inner wall of the first cavity through a rotating shaft, the triangular disc close to the motor is fixedly connected with an output shaft of the motor, and the output shaft of the motor is positioned at the center of the triangular disc; a rolling module is arranged in the first cavity and is positioned in the middle of the adjacent triangular discs, and the rolling module is fixedly connected with the triangular discs through rotating shafts; the triangular disc is driven by the motor to rotate, so that the triangular disc drives the rolling module to roll.

When the device is used, sewage in the metal pipeline is discharged, the robot is placed in the pipeline, the robot is started and moves forwards, and the main body of the machine detects and photographs in the pipeline; the motor drives the triangular disc to rotate, and the triangular disc drives the rolling module to roll forward; compared with the existing wheeled robot which is supported at the horizontal bottom of the inner wall of the pipeline by rollers, the three-fork arm structure is supported on the inner wall of the pipeline from three angles in the pipeline, and the robot and the inner wall of the pipeline are in a state of a circumscribed circular regular triangle, so that the robot moves forwards far away from the bottom of the pipeline, the possibility that sundries are remained at the bottom of the pipeline and the robot moves forwards is prevented, the robot cannot work, and the mobility of the robot in the pipeline is increased; when the robot moves ahead in the pipeline, because the pipeline is long-term to work, produce the moss on the pipeline inner wall, after the robot contacted the moss, because the robot is trident arm structure, the robot supported on the pipeline inner wall from three angle, and the length of bracing piece is the same for the robot can't turn on one's side, avoid the robot to contact behind the moss, the great heeling angle of emergence range leads to turning on one's side, the possibility that can't move ahead increases the skid resistance of robot.

Preferably, the support plate is formed by hinging two plates, and the support plate is rotatably connected with the outer surface of the sleeve and two sides of the shell through rotating shafts; and a convex spring is fixedly connected with the bottom of the shell at a position corresponding to the outer surface of the sleeve.

When the robot is used, in the process of advancing, when the robot crosses foreign matters on the inner wall of a pipeline, the position of the roller wheel changes to cause vibration, and the advancing unit is driven to vibrate; through the matching between the spring and the supporting plate, when the traveling unit vibrates, the spring moves in a telescopic manner to absorb the shock of the machine main body, so that the damage to the machine main body caused by too long vibration time or too large vibration amplitude is prevented, the shock resistance of the robot is increased, and the machine main body is protected; when the rolling module crosses the uneven inner wall of the pipeline, the supporting plate stretches to drive the spring to stretch, so that the advancing unit moves forwards along the inner wall of the pipeline, the spine contacts the uneven inner wall of the pipeline, the anti-skid property of the rolling module is improved, the area of the rolling module contacting the uneven inner wall of the pipeline is prevented from being reduced, the friction force of the rolling module is reduced, and the rolling module slips; under the condition that the pipeline diameter of robot work diminishes, the gyro wheel moves ahead along the pipeline inner wall that the diameter changes, owing to be provided with backup pad and spring, the pipeline inner wall extrudees the unit of marcing, and the unit of marcing extrudees the spring, and the spring receives the extrusion withdrawal of the unit of marcing, and the backup pad atress is folding for the robot continues to move ahead in the pipeline that the diameter diminishes, increases the contractibility of robot, thereby increases the adaptability of robot face to different diameter pipelines.

Preferably, a first hole is formed in the sleeve corresponding to the machine body, and the first hole is located in the center of the spiral of the spring; an air bag is installed in the spring, two ends of the air bag are fixedly connected with the sleeve and the shell respectively, and the air bag is communicated with the first hole.

When the robot is used, the robot moves forwards, and the moving unit is stressed to cause vibration; through the matching between the first hole and the air bag, the moving unit vibrates to cause the expansion of the spring, so that the air bag is driven to suck and blow air, the air bag blows air to the machine main body through the first hole, the temperature of the machine main body is prevented from rising under the long-time working state of the robot, internal core components are prevented from being damaged, the robot is prevented from being damaged, and the cooling effect of the machine main body is improved; due to the arrangement of the air bag, the air bag has elasticity, and when the traveling unit is stressed to cause vibration, the air bag is matched with the spring to absorb the vibration of the machine main body, so that the damage to the machine main body caused by overlong vibration time or overlarge vibration amplitude is prevented, and the vibration resistance of the robot is further improved; the aperture ratio that is close to gasbag one end through setting up a hole is big keeping away from the aperture of gasbag one end, and the air current gets into from being close to gasbag one end, because the aperture diminishes for the air current blows the velocity of flow to the machine main part through a hole and accelerates, further increases the cooling effect of machine main part.

Preferably, a group of balls are respectively arranged at two ends of the sleeve, and the balls are uniformly and circumferentially arranged; a group of first arc-shaped grooves are formed in the positions, in contact with the balls, of the inner surface of the sleeve, and the arc radius in each first arc-shaped groove is larger than that in each ball; the machine body is fixedly connected with a gravity block, the gravity block and the machine body form a cylinder, a group of second arc-shaped grooves are formed in the positions where the gravity block and the machine body are in contact with the balls, and the radius of an arc in each second arc-shaped groove is larger than that of a circle in each ball; through the cooperation between arc wall, No. two arc walls and the ball, realize that machine main part and gravity piece rotate.

When the device is used, the two ends of the sleeve are respectively provided with the group of balls, and the balls have the limiting effect on the inclination angles of the machine main body and the gravity block, so that the machine main body is parallel to the inner wall of the pipeline, the pipeline is prevented from having the inclination angles, the machine main body is inclined, the normal work of the machine main body is influenced, and the position stability of the machine main body in the working process is improved; when the robot is placed in the pipeline, through the cooperation between ball, an arc wall, No. two arc walls and the gravity piece for place in the pipeline at the arbitrary angle of robot, the gravity piece keeps perpendicularly downwards through the roll of ball, drives the main part of the machine perpendicularly downwards, further increases the stability of main part of the machine in the pipeline, avoids when placing the robot, and the main part of the machine is the tilt state, influences the main part of the machine and normally works.

Preferably, the rolling module comprises at least three rollers, and each roller is fixedly connected to the triangular disc through a rotating shaft at a uniform circumference.

During the use, when the gyro wheel met the barrier, because set up gyro wheel quantity be three at least, the output of motor rotates and drives the triangle dish and rotate, and the triangle dish drives the gyro wheel and rolls and advance, crosses the barrier, increases the mobility of robot, prevents that the barrier from blockking the gyro wheel and advancing, leads to the robot can't move ahead.

Preferably, a group of spikes are fixedly connected with the outer surface of the roller at uniform circumference, and the spikes are arranged on the roller in a wave shape.

When the robot is used, under the condition that the robot runs forwards and meets moss or an object easy to slide, the rolling module rolls forwards to drive the spines to rotate, the spines contact the moss or the object easy to slide, and the roughness of the inner wall of the pipeline of the rolling module is increased, so that the friction force of the rolling module on the inner wall of the pipeline is increased, the rolling module is prevented from slipping and rotating on the inner wall of the pipeline to cause incapability of running forwards, and the skid resistance of the rolling module is increased; due to the fact that the sharp spines are arranged, when the rolling module contacts the moss, the sharp spines penetrate through the inner wall of the moss contact pipeline, so that the rolling module contacts the inner wall of the pipeline through the sharp spines, the possibility of slipping and tilting after the robot contacts the moss is prevented, and the skid resistance of the robot is improved.

The invention has the following beneficial effects:

1. according to the pipeline operation robot, the three groups of supporting plates are arranged, the three groups of supporting plates are uniformly and circumferentially fixedly connected onto the sleeve to form a three-fork arm structure to be supported on a pipeline, the three-fork arm structure is supported on the inner wall of the pipeline from three angles in the pipeline, the robot and the inner wall of the pipeline are in a state of being in a shape of a circumscribed circle regular triangle, the robot moves forwards far away from the bottom of the pipeline, and the mobility of the robot in the pipeline is improved.

2. According to the pipeline operation robot, the spines are arranged, the rolling module rolls forwards to drive the spines to rotate, the spines are in contact with moss or easily-sliding objects, the roughness of the inner wall of a pipeline caused by the rolling module is increased, the friction force of the rolling module on the inner wall of the pipeline is increased, the rolling module is prevented from slipping and rotating on the inner wall of the pipeline, the pipeline cannot move forwards, and the skid resistance of the rolling module is increased.

Drawings

The invention will be further explained with reference to the drawings.

FIG. 1 is a perspective view of the present invention;

FIG. 2 is a perspective view of a traveling unit in the present invention;

FIG. 3 is a schematic structural view of the present invention;

FIG. 4 is a schematic view showing a structure of a traveling unit in the present invention;

FIG. 5 is an enlarged view of a portion of FIG. 3 at A;

in the figure: the device comprises a main body 1, a gravity block 11, a sleeve 2, a ball 21, a first arc-shaped groove 22, a second arc-shaped groove 23, a supporting plate 3, a spring 31, an air bag 32, a first hole 33, a traveling unit 5, a shell 51, a first cavity 52, a second cavity 53, a triangular plate 54, a rolling module 6, a spine 61, a roller 62 and a motor 7.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

As shown in fig. 1 to 5, a pipe working robot according to the present invention includes a machine main body 1, a sleeve 2, a support plate 3, and a set of traveling units 5; the machine main body 1 is semi-cylindrical, the machine main body 1 is sealed, and a sleeve 2 is sleeved in the middle of the machine main body 1; three groups of supporting plates 3 are uniformly and circumferentially arranged on the outer surface of the sleeve 2, and one ends of the two adjacent supporting plates 3, which are far away from the sleeve 2, are fixedly connected with advancing units 5; the travelling unit 5 comprises a housing 51, a motor 7, a set of triangular discs 54 and a set of rollers 62; two sides of the shell 51 are fixedly connected with one ends of the two adjacent support plates 3 far away from the sleeve 2, and a first cavity 52 and a second cavity 53 are respectively formed in the shell 51 corresponding to the adjacent support plates 3; the motor 7 is arranged in the second cavity 53, and an output shaft of the motor 7 penetrates through the inner wall of the second cavity 53 and is positioned in the first cavity 52; a triangular disc 54 is arranged in the first cavity 52, the triangular discs 54 are close to the inner walls of the first cavity 52 corresponding to the two sides of the support plate 3, the triangular disc 54 far away from the motor 7 is rotatably connected with the inner wall of the first cavity 52 through a rotating shaft, the triangular disc 54 close to the motor 7 is fixedly connected with an output shaft of the motor 7, and the output shaft of the motor 7 is positioned at the center of the triangular disc 54; the first cavity 52 is internally provided with a rolling module 6, the rolling module 6 is positioned in the middle of the adjacent triangular disc 54, and the rolling module 6 is fixedly connected with the triangular disc 54 through a rotating shaft; the triangular disc 54 is driven to rotate by the motor 7, so that the triangular disc 54 drives the rolling module 6 to roll.

When the device is used, sewage in a metal pipeline is discharged, the robot is placed in the pipeline, the robot is started and moves forwards, and the machine body 1 performs detection and photographing work in the pipeline; the motor 7 drives the triangular disc 54 to rotate, and the triangular disc 54 drives the rolling module 6 to roll forwards; by arranging the three groups of supporting plates 3, the three groups of supporting plates 3 are uniformly and circumferentially fixedly connected to the sleeve 2 to form a three-fork arm structure to be supported on the pipeline, compared with the existing wheeled robot which is supported at the horizontal bottom of the inner wall of the pipeline by the rollers 62, the three-fork arm structure is supported on the inner wall of the pipeline from three angles in the pipeline, and the robot and the inner wall of the pipeline are in a state of a circumscribed circular regular triangle, so that the robot moves forwards far away from the bottom of the pipeline, the possibility that sundries are remained at the bottom of the pipeline and move forwards are hindered, the robot cannot work, and the mobility of the robot in the pipeline is improved; when the robot moves ahead in the pipeline, because the pipeline is long-term to work, produce the moss on the pipeline inner wall, after the robot contacted the moss, because the robot is trident arm structure, the robot supported on the pipeline inner wall from three angle, and the length of bracing piece is the same for the robot can't turn on one's side, avoid the robot to contact behind the moss, the great heeling angle of emergence range leads to turning on one's side, the possibility that can't move ahead increases the skid resistance of robot.

As an embodiment of the present invention, the supporting plate 3 is formed by hinging two plates, and the supporting plate 3 is rotatably connected with the outer surface of the sleeve 2 and two sides of the shell 51 through a rotating shaft; the bottom of the shell 51 is fixedly connected with a convex spring 31 corresponding to the outer surface of the sleeve 2.

When the robot is used, in the process of advancing, when the robot crosses foreign matters on the inner wall of the pipeline, the position of the roller 62 is changed to cause vibration, and the advancing unit 5 is driven to vibrate; through the matching between the spring 31 and the supporting plate 3, when the traveling unit 5 vibrates, the spring 31 moves in an extending and contracting manner to absorb the shock of the machine main body 1, so that the damage to the machine main body 1 caused by too long vibration time or too large vibration amplitude is prevented, the shock resistance of the robot is increased, and the machine main body 1 is protected; when the movable rolling module crosses the rugged pipeline inner wall, the supporting plate 3 stretches to drive the spring 31 to stretch, so that the advancing unit 5 moves forwards along the pipeline inner wall, the spine 61 contacts the rugged pipeline inner wall, the anti-skid performance of the rolling module 6 is improved, the area of the rolling module 6 contacting the rugged pipeline inner wall is prevented from being reduced, the friction force of the rolling module 6 is reduced, and the rolling module 6 is prevented from skidding; under the condition that the pipeline diameter that the robot worked diminishes, gyro wheel 62 advanced along the pipeline inner wall that the diameter changed, owing to be provided with backup pad 3 and spring 31, the pipeline inner wall extrudees advancing unit 5, advancing unit 5 extrudees spring 31, spring 31 receives advancing unit 5's extrusion withdrawal, backup pad 3 atress is folding for the robot continues to advance in the pipeline that the diameter diminishes, increases the contractibility of robot, thereby increases the adaptability of robot face to different diameter pipelines.

As an embodiment of the present invention, a first hole 33 is formed on the sleeve 2 at a position corresponding to the machine body 1, and the first hole 33 is located at a spiral center position of the spring 31; an air bag 32 is installed in the spring 31, two ends of the air bag 32 are fixedly connected with the sleeve 2 and the shell 51 respectively, and the air bag 32 is communicated with the first hole 33.

When the robot is used, the moving unit 5 is stressed to cause vibration in the moving process of the robot; through the matching between the first hole 33 and the air bag 32, the travelling unit 5 vibrates to cause the expansion and contraction of the spring 31, so that the air bag 32 is driven to suck and blow air, the air bag 32 blows air to the machine body 1 through the first hole 33, the temperature of the machine body 1 is prevented from rising, internal core components are prevented from being damaged, the robot is prevented from being damaged, and the cooling effect of the machine body 1 is improved; due to the arrangement of the air bag 32, the air bag 32 has elasticity, and when the traveling unit 5 is stressed to cause vibration, the machine body 1 is damped by matching with the spring 31, so that the damage to the machine body 1 caused by too long vibration time or too large vibration amplitude is prevented, and the vibration resistance of the robot is further increased; the aperture of one end close to the air bag 32 through the first hole 33 is larger than that of one end far away from the air bag 32, the air flow enters from one end close to the air bag 32, and the flow speed of the air flow blown to the machine body 1 through the first hole 33 is accelerated due to the fact that the aperture is smaller, and the cooling effect of the machine body 1 is further improved.

As an embodiment of the present invention, a set of balls 21 is respectively disposed at two ends of the sleeve 2, and the balls 21 are uniformly arranged circumferentially; a group of first arc-shaped grooves 22 are formed in the positions, in contact with the balls 21, of the inner surface of the sleeve 2, and the arc radius in the first arc-shaped grooves 22 is larger than the circular radius in the balls 21; the machine body 1 is fixedly connected with a gravity block 11, the gravity block 11 and the machine body 1 form a cylinder, a group of second arc-shaped grooves 23 are formed in the gravity block 11 and the positions where the machine body 1 is contacted with the balls 21, and the arc radius in the second arc-shaped grooves 23 is larger than the circular radius in the balls 21; through the cooperation between the first arc-shaped groove 22, the second arc-shaped groove 23 and the ball 21, the rotation of the machine body 1 and the gravity block 11 is realized.

When the device is used, the two ends of the sleeve 2 are respectively provided with the group of balls 21, and the balls 21 have the limiting effect on the inclination angles of the machine main body 1 and the gravity block 11, so that the machine main body 1 is parallel to the inner wall of the pipeline, the pipeline is prevented from having the inclination angles, the machine main body 1 is prevented from inclining, the normal work of the machine main body 1 is influenced, and the position stability of the machine main body 1 in the working process is improved; when the robot is placed in the pipeline, through ball 21, an arc 22, No. two arc 23 and the cooperation between the gravity piece 11 for place in the pipeline at the arbitrary angle of robot, the roll of gravity piece 11 through ball 21 keeps perpendicular downwards, drives machine main part 1 perpendicularly downwards, further increases the stability of machine main part 1 in the pipeline, avoids when placing the robot, and machine main part 1 is the tilt state, influences machine main part 1 and normally works.

In one embodiment of the present invention, the rolling module 6 includes at least three rollers 62, and each roller 62 is attached to the triangular plate 54 by a shaft with a uniform circumference.

During the use, when gyro wheel 62 met the barrier, because set up gyro wheel 62 quantity and be three at least, the output of motor 7 rotates and drives triangle dish 54 and rotate, and triangle dish 54 drives gyro wheel 62 and rolls and advance, crosses the barrier, increases the mobility of robot, prevents that the barrier from blockking that gyro wheel 62 advances, leads to the robot can't advance.

As an embodiment of the invention, a group of spikes 61 are fixedly connected to the outer surface of the roller 62 at a uniform circumference, and the spikes 61 are arranged on the roller 62 in a wave shape.

When the robot is used, under the condition that the robot runs forwards and meets moss or an object easy to slide, the rolling module 6 rolls forwards by arranging the sharp spine 61 to drive the sharp spine 61 to rotate, the sharp spine 61 contacts the moss or the object easy to slide, and the roughness of the rolling module 6 to the inner wall of the pipeline is increased, so that the friction force of the rolling module 6 to the inner wall of the pipeline is increased, the rolling module 6 is prevented from slipping and rotating on the inner wall of the pipeline to cause incapability of running forwards, and the skid resistance of the rolling module 6 is increased; due to the arrangement of the sharp spines 61, when the rolling module 6 contacts the moss, the sharp spines 61 penetrate through the moss to contact the inner wall of the pipeline, so that the rolling module 6 contacts the inner wall of the pipeline through the sharp spines 61, the possibility of slipping and tilting after the robot contacts the moss is prevented, and the skid resistance of the robot is improved.

The specific working process is as follows:

discharging sewage in the metal pipeline, placing the robot into the pipeline, starting the robot, driving the triangular disc 54 to rotate by the motor 7, and driving the rolling module 6 to roll and move forwards by the triangular disc 54; by arranging the three groups of supporting plates 3, the three groups of supporting plates 3 are uniformly and circumferentially fixedly connected to the sleeve 2 to form a three-fork arm structure to be supported on the pipeline, and the robot and the inner wall of the pipeline are in a state of being in a shape of a regular triangle externally connected with a circle, so that the robot moves forwards far away from the bottom of the pipeline; when the robot moves forwards in the pipeline, the pipeline works for a long time, moss is generated on the inner wall of the pipeline, and after the robot contacts the moss, the robot is supported on the inner wall of the pipeline from three angles due to the fact that the robot is of a three-fork arm structure, and the length of the supporting rods is the same, so that the robot cannot turn on one side; when the advancing unit 5 vibrates, the spring 31 moves in a telescopic mode to absorb shock of the machine body 1, the inner wall of the pipeline extrudes the advancing unit 5, the advancing unit 5 extrudes the spring 31, the spring 31 retracts under the extrusion of the advancing unit 5, and the supporting plate 3 is stressed and folded, so that the robot continues to advance in the pipeline with the reduced diameter; the traveling unit 5 vibrates to cause the expansion and contraction of the spring 31, so that the air bag 32 is driven to suck and blow air, the air bag 32 blows air to the machine body 1 through the first hole 33, the air bag 32 has elasticity, and when the traveling unit 5 is stressed to cause vibration, the spring 31 is matched to absorb the vibration of the machine body 1; the ball 21 has the effect of limiting the inclination angle of the machine main body 1 and the gravity block 11, so that the machine main body 1 is parallel to the inner wall of the pipeline, and the gravity block 11 keeps vertically downward by rolling of the ball 21 to drive the machine main body 1 to vertically downward; when the roller 62 meets an obstacle, the number of the roller 62 is at least three, the output end of the motor 7 rotates to drive the triangular disc 54 to rotate, and the triangular disc 54 drives the roller 62 to roll and advance to cross the obstacle.

The front, the back, the left, the right, the upper and the lower are all based on figure 1 in the attached drawings of the specification, according to the standard of the observation angle of a person, the side of the device facing an observer is defined as the front, the left side of the observer is defined as the left, and the like.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplifying the description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A pipeline working robot, characterized in that: comprises a machine body (1), a sleeve (2), a support plate (3) and a group of traveling units (5); the machine main body (1) is semi-cylindrical, the machine main body (1) is sealed, and a sleeve (2) is sleeved in the middle of the machine main body (1); three groups of supporting plates (3) are uniformly and circumferentially arranged on the outer surface of the sleeve (2), and one ends of the two adjacent supporting plates (3) far away from the sleeve (2) are fixedly connected with advancing units (5); the travelling unit (5) comprises a shell (51), a motor (7), a group of triangular discs (54) and a group of rollers (62); two sides of the shell (51) are fixedly connected with one ends, far away from the sleeve (2), of the two adjacent supporting plates (3), and a first cavity (52) and a second cavity (53) are respectively formed in the shell (51) corresponding to the positions of the adjacent supporting plates (3); a motor (7) is arranged in the second cavity (53), and an output shaft of the motor (7) penetrates through the inner wall of the second cavity (53) and is positioned in the first cavity (52); a triangular disc (54) is arranged in the first cavity (52), the triangular discs (54) are close to the inner walls of the two sides of the first cavity (52) corresponding to the support plate (3), the triangular disc (54) far away from the motor (7) is rotatably connected with the inner wall of the first cavity (52) through a rotating shaft, the triangular disc (54) close to the motor (7) is fixedly connected with an output shaft of the motor (7), and the output shaft of the motor (7) is positioned at the center of the triangular disc (54); a rolling module (6) is arranged in the first cavity (52), the rolling module (6) is positioned in the middle of the adjacent triangular disc (54), and the rolling module (6) is fixedly connected with the triangular disc (54) through a rotating shaft; the triangular disc (54) is driven to rotate by the motor (7), so that the triangular disc (54) drives the rolling module (6) to roll.

2. A pipeline working robot according to claim 2, characterized in that: the support plate (3) is formed by hinging two plates, and the support plate (3) is rotatably connected with the outer surface of the sleeve (2) and two sides of the shell (51) through a rotating shaft; and a convex spring (31) is fixedly connected to the bottom of the shell (51) and the position corresponding to the outer surface of the sleeve (2).

3. A pipeline working robot according to claim 3, characterized in that: a first hole (33) is formed in the position, corresponding to the machine body (1), of the sleeve (2), and the first hole (33) is located in the spiral center of the spring (31); an air bag (32) is installed in the spring (31), two ends of the air bag (32) are fixedly connected with the sleeve (2) and the shell (51) respectively, and the air bag (32) is communicated with the first hole (33).

4. A pipeline working robot according to claim 4, characterized in that: a group of balls (21) are respectively arranged at two ends of the sleeve (2), and the balls (21) are uniformly and circumferentially arranged; a group of first arc-shaped grooves (22) are formed in the positions, in which the inner surface of the sleeve (2) is in contact with the balls (21), and the arc radius in the first arc-shaped grooves (22) is larger than the circular radius in the balls (21); the machine body (1) is fixedly connected with a gravity block (11), the gravity block (11) and the machine body (1) form a cylinder, a group of second arc-shaped grooves (23) are formed in the positions where the gravity block (11) and the machine body (1) are in contact with the balls (21), and the arc radius in the second arc-shaped grooves (23) is larger than the circular radius in the balls (21); through the cooperation between first arc wall (22), second arc wall (23) and ball (21), realize that machine main part (1) and gravity piece (11) rotate.

5. A pipeline working robot according to claim 5, characterized in that: the rolling module (6) comprises at least three rollers (62), and each roller (62) is uniformly and circumferentially connected to the triangular disc (54) through a rotating shaft.

6. A pipeline working robot according to claim 1, characterized in that: the outer surface of the roller (62) is uniformly and circumferentially fixedly connected with a group of spikes (61), and the spikes (61) are arranged on the roller (62) in a wave shape.