CN113483193A

CN113483193A - Pipeline robot

Info

Publication number: CN113483193A
Application number: CN202110672916.1A
Authority: CN
Inventors: 陈少南; 李兵; 陈国栋; 王雪竹; 刘蕾; 邓志燕
Original assignee: China General Nuclear Power Corp; China Nuclear Power Technology Research Institute Co Ltd; CGN Power Co Ltd
Current assignee: China General Nuclear Power Corp; China Nuclear Power Technology Research Institute Co Ltd; CGN Power Co Ltd
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2021-10-08
Anticipated expiration: 2041-06-17
Also published as: CN113483193B

Abstract

The invention discloses a pipeline robot, which comprises: the driving walking device drives the pipeline robot to move forwards, backwards or turn in the pipeline; the working device is selected from two or more than two of a camera device, a scanning device, a clamping device, a grinding device and a rolling and scanning device; and the connecting device is detachably connected with the driving walking device and the operation device. Compared with the prior art, the pipeline robot selects different operation devices according to needs, realizes the replacement and connection of different operation devices through the connecting device, and can perform multifunctional operation in a pipeline.

Description

Pipeline robot

Technical Field

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

Background

In actual work, various bent angles and variable diameters often appear in the pipeline, when cracks appear in the pipeline, corrosion appears in the pipeline, or foreign matters exist in the pipeline, in order to find out the specific situation in the pipeline, a pipeline robot is usually needed to enter the pipeline, detailed evaluation is carried out on the internal situation of the pipeline through video equipment and the like carried on the pipeline robot, and then how to realize the repair work in the pipeline on the next step is determined.

However, the pipe robot of the related art generally carries only one type of working device, has a single function, and cannot perform a multi-functional work. When different operations are required, the pipeline robot with the corresponding operation device is required to be replaced according to different operation requirements.

Disclosure of Invention

The invention aims to: overcomes at least one defect in the prior art and provides a pipeline robot.

In order to achieve the above object, the present invention provides a pipeline robot, comprising:

the driving walking device drives the pipeline robot to move forwards, backwards or turn in the pipeline;

the working device is selected from two or more than two of a camera device, a scanning device, a clamping device, a grinding device and a rolling and scanning device; and

a connecting device detachably connecting the driving and traveling device and the working device

According to one embodiment of the pipeline robot of the present invention, the camera device is provided with a fixing base, a camera, and a motor for driving the camera to rotate in the left and right directions and in the circumferential direction, and the camera device is mounted on the walking driving device through the fixing base.

According to an embodiment of the pipe robot of the present invention, the scanning device is a three-dimensional scanner fixed to the walking drive device.

According to an embodiment of the pipeline robot of the present invention, the clamping device comprises a fixing base, a rotating motor and a pneumatic clamping jaw assembly, the fixing base is fixed on the driving walking device, the pneumatic clamping jaw assembly and the rotating motor are fixed on the fixing base, and the rotating motor drives the pneumatic clamping jaw assembly to open or contract.

According to one embodiment of the pipeline robot, the grinding device comprises two grinding support components supported on the inner wall of the pipeline and a grinding component arranged between the two grinding support components.

According to one embodiment of the pipeline robot of the present invention, the rolling-sweeping collecting means comprises two rolling-sweeping supporting members supported on the inner wall of the pipeline and a rolling-sweeping collecting member installed between the two rolling-sweeping supporting members.

According to one embodiment of the pipeline robot, the walking driving device is detachably connected with a follow-up device, and the follow-up device comprises a follow-up cylinder, a circuit arranged in the follow-up cylinder and a butt joint port for butting an external power supply and an external air source.

According to one embodiment of the pipeline robot, the outer wall of the follow-up cylinder is uniformly provided with steel ball rollers.

According to one embodiment of the pipeline robot, the connecting device comprises two detachably butted electric slip rings and mounting seats positioned on two sides of the electric slip rings, and the electric slip rings and the mounting seats are connected through universal joints.

According to one embodiment of the pipe robot of the present invention, the walking drive means includes:

a cylinder body;

the upper driving walking part is arranged on the upper side of the cylinder body through an upper bracket and comprises an upper driving wheel, an upper driven wheel, an upper transmission belt connecting the upper driving wheel and the upper driven wheel and an upper motor driving the upper driving wheel; and

the lower driving walking part is arranged on the lower side of the cylinder body through the lower bracket and comprises a lower driving wheel, a lower driven wheel, a lower transmission belt for connecting the lower driving wheel and the lower driven wheel and a lower motor for driving the lower driving wheel;

the air cylinder body is provided with two air cylinders, the two air cylinders are respectively provided with two piston rods extending out of the upper side and the lower side, the end parts of the two piston rods are respectively connected with an upper driving walking part and a lower driving walking part, when the air cylinders work under the action of compressed air, the two piston rods drive the upper driving walking part and the lower driving walking part to synchronously move up and down through a synchronizing mechanism, and an upper driving wheel and an upper driven wheel of the upper driving walking part and a lower driven wheel of the upper driving walking part are propped against the inner wall of the pipeline.

According to an embodiment of the present invention, the synchronizing mechanism includes a first synchronizing rod and a second synchronizing rod installed on the cylinder body, a first synchronizing rack fixed on the upper bracket, and a second synchronizing rack fixed on the lower bracket, wherein two ends of the first synchronizing rod are respectively provided with a first synchronizing gear and a first synchronizing pulley which rotate coaxially, two ends of the second synchronizing rod are respectively provided with a second synchronizing gear and a second synchronizing pulley which rotate coaxially, the first synchronizing pulley and the second synchronizing pulley are connected by a synchronous belt, the first synchronizing rack and the first synchronizing gear are engaged, the second synchronizing rack and the second synchronizing gear are engaged, and the first synchronizing rack and the second synchronizing rack move to drive the first synchronizing gear and the second synchronizing gear to rotate simultaneously.

According to one embodiment of the pipeline robot, the cylinder body is provided with a first linear guide rail and a second linear guide rail which are connected, and the first synchronous rack and the second synchronous rack are connected with the cylinder body through the first linear guide rail and the second linear guide rail respectively.

According to an embodiment of the pipeline robot of the present invention, the first and second synchronous racks have the same number of teeth in the process of extending the piston rod up and down.

According to one embodiment of the pipeline robot, the top ends of the first synchronous rack and the second synchronous rack are respectively provided with a mounting base, and the first synchronous rack and the second synchronous rack are correspondingly connected to the upper and lower driving walking parts through the mounting bases.

Compared with the prior art, the pipeline robot selects different operation devices according to needs, realizes the replacement and connection of different operation devices through the connecting device, and can perform multifunctional operation in a pipeline.

Drawings

The pipeline robot and the technical effects thereof of the present invention will be described in detail with reference to the accompanying drawings and the detailed description, wherein:

fig. 1 is a schematic structural view of the pipeline robot of the present invention.

Fig. 2 is a schematic structural diagram of a camera device in the pipeline robot according to the present invention.

Fig. 3 is a schematic structural diagram of a scanning device in the pipe robot according to the present invention.

Fig. 4 is a schematic structural view of a gripping device in the pipe robot according to the present invention.

Fig. 5 is a schematic structural diagram of a connecting device in the pipe robot according to the present invention.

Fig. 6 is a schematic structural view of a driving traveling device in the pipe robot according to the present invention.

Fig. 7A and 7B are schematic structural views of the upper and lower running gear parts of the running gear shown in fig. 6.

Fig. 8 is a schematic structural view of a cylinder body of the walking drive apparatus shown in fig. 6.

Fig. 9 is a side view of the undercarriage shown in fig. 6.

Fig. 10 is another side view of the chassis shown in fig. 6.

Fig. 11 is a schematic structural view of a synchronizing bar of the walking drive apparatus shown in fig. 6.

Fig. 12A and 12B are schematic diagrams illustrating the engagement of the rack and pinion in the synchronizing mechanism of the traveling unit shown in fig. 6.

Fig. 13 is a schematic structural view of a polishing device in the pipe robot according to the present invention.

Fig. 14 is a schematic structural view of a rolling-sweep collecting device in the pipe robot of the present invention.

Fig. 15 is a schematic structural view of a follower device in the pipe robot according to the present invention.

Fig. 16 is a schematic structural view of an embodiment of the pipeline robot of the present invention, which includes a scanning device and a polishing device.

Fig. 17 is a schematic structural view of another embodiment of the pipe robot of the present invention, which includes a gripping device and a grinding device.

Fig. 18 is a schematic structural view of still another embodiment of the pipeline robot of the present invention, which includes a camera device and a roll sweep collecting device.

In the figure:

1-driving the running gear; 2-a camera device; 212- -a camera; 214- -a fixed seat; 3- -scanning device; 314- -three-dimensional scanner; 4-a gripping device; 412- -a rotating electrical machine; 414 — a pneumatic gripper assembly; 5- -polishing device; 512-grinding the support assembly; 514- -sanding block; 6- -rolling sweep collecting device; 612- -Rolling sweep support Assembly; 614 — a rolling sweep collection assembly; 7- -connecting means; 712- -an electro-pneumatic slip ring; 714-universal joint 8-follower; 812-a follower cylinder; 814- -steel ball rollers;

10- -cylinder body; 100- -a piston rod; 102- -first linear guide; 104- -first rail mounting plate; 106- -a second linear guide; 108- -second rail mounting plate; 110- -a mount;

20- -upper drive running part; 200- -upper driving wheel; 202- -upper driven wheel; 204- -Upper drive Belt; 206- -upper motor; 208- -Upper support; 210-upper drive belt tensioner; 212- -Upper drive strap adjustment screw;

30- -lower drive traveling part; 300- -lower driving wheel; 302- -lower driven wheel; 304- -lower belt; 306- -lower motor; 308- -lower support; 310- -lower belt tensioner; 312- -lower drive belt adjustment screw;

400- -first synchronization bar; 402- -first synchronization rack; 404- -first synchronizing gear; 406 — a first synchronous pulley; 408- -synchronous belt; 410- -first synchronous belt tensioner;

500- -second synchronizing bar; 502- -second synchronizing rack; 504- -second synchronizing gear; 506 — a second synchronous pulley; 510-a second timing belt tensioner.

Detailed Description

In order to make the objects, technical solutions and technical effects of the present invention more clear, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

Referring to fig. 1, the present invention provides a pipeline robot, which includes:

the driving walking device 1 drives the pipeline robot to move forward, backward or turn in the pipeline;

two or more working devices selected from the camera device 2, the scanning device 3, the clamping device 4, the polishing device 5 and the rolling sweep collecting device 6; and

and the connecting device 7 is detachably connected with the driving walking device 1 and the working device.

Referring to fig. 2, the camera device 2 is provided with a fixing base 214, a camera 212 and a motor (not shown) for driving the camera to rotate left and right in the circumferential direction, the camera 212 is fixedly mounted on the cylinder body 10 of the walking driving device 1 through the fixing base 214, and the camera 212 can rotate left and right and in the circumferential direction by controlling the rotation of the motor, so that the detection and imaging feedback of the environment inside the pipeline by the camera 212 are completed.

In the embodiment shown in fig. 2, a mounting seat 110 is provided on a side wall of the cylinder body 10, and the mounting seat 110 can be detachably connected to a corresponding mounting device of another working device by a bolt connection. Please refer to the description related to the walking drive unit 1 in this application, the upper walking drive unit 20 and the lower walking drive unit 30 of the walking drive unit 1 are synchronously pressed against the inner wall of the pipeline by the driving of the cylinder body 10, so as to adapt to different diameters of the pipeline and make the axis of the camera 212 coincide with the axis of the pipeline as much as possible. When the walking device 1 is driven to move forward, backward and turn along the pipeline, the camera 212 can continuously explore the internal working environment of the pipeline.

Referring to fig. 3, the scanning device 3 is a three-dimensional scanner 314 fixed on the traveling drive device 1, and the three-dimensional scanner 314 penetrates through the cylinder body 10 and is fixedly mounted on the cylinder body 10. Please refer to the description related to the walking drive device 1 in this application, the upper walking drive component 20 and the lower walking drive component 30 of the walking drive device 1 are synchronously pressed against the inner wall of the pipeline by the driving of the cylinder body 10, so as to be adaptive to different diameters of the pipeline, and make the axis of the three-dimensional scanner 314 coincide with the axis of the pipeline. When the traveling device 1 is driven to move forward, backward, and turn along the pipeline, the three-dimensional scanner 314 can scan and model the interior of the pipeline and determine whether a damaged or deformed region exists in the interior of the pipeline.

Referring to fig. 4, the gripping device 4 includes a fixing base, a rotating motor 412 and a pneumatic clamping jaw assembly 414, the pneumatic clamping jaw assembly 414 and the rotating motor 412 are fixed on the fixing base, and the fixing base is fixed on the cylinder body 10 of the driving and traveling device 1. By controlling the rotation of the rotary motor 412 and the expansion or contraction of the pneumatic jaw assembly 414, foreign objects on the inner wall of the pipeline can be gripped. Please refer to the description related to the walking drive unit 1 in this application, the upper walking drive unit 20 and the lower walking drive unit 30 of the walking drive unit 1 are synchronously pressed against the inner wall of the pipeline by the driving of the cylinder body 10, so as to adapt to different diameters of the pipeline, and the axis of the rotating motor 412 coincides with the axis of the pipeline. When the walking device 1 is driven to move forward, backward and turn along the pipeline, the pneumatic clamping jaw assembly 414 can clamp foreign matters at any point in the pipeline.

Referring to fig. 5, the connecting device 7 includes two electrical slip rings 712 detachably connected to each other and a mounting base 110 disposed on two sides of the electrical slip rings 712, wherein the electrical slip rings 712 and the mounting base 110 are connected by a universal joint 714. The mounting seat 110 of the connecting device 7 can be correspondingly connected with the mounting seat on the working device through a bolt. It can be understood that, according to actual needs, other detachable connecting devices can be used for connecting the walking driving device and the working device, such as a buckle connecting device and the like, and other connecting devices available on the market can be used for realizing quick replacement, such as an automatic quick-exchange clamp for Eins multi-joint robots.

Referring to fig. 6 to 12, in the pipe robot according to the present invention, the walking driving unit 1 includes:

a cylinder body 10;

the upper driving and traveling unit 20 is disposed on the upper side of the cylinder body 10 through an upper bracket 208, and includes an upper driving pulley 200, an upper driven pulley 202, an upper driving belt 204 connecting the upper driving pulley 200 and the upper driven pulley 202, and an upper motor 206 driving the upper driving pulley 200;

the lower driving and traveling member 30 is disposed at the lower side of the cylinder body 10 through a lower bracket 308, and includes a lower driving wheel 300, a lower driven wheel 302, a lower transmission belt 304 connecting the lower driving wheel 300 and the lower driven wheel 302, and a lower motor 306 driving the lower driving wheel 300; and

the cylinder body 10 is provided with two cylinders, the two cylinders are respectively provided with two piston rods 100 extending out of the upper side and the lower side, the end parts of the two piston rods 100 are respectively connected with the upper driving walking part 20 and the lower driving walking part 30, when the cylinders work under the action of compressed gas, the two piston rods 100 drive the upper driving walking part 20 and the lower driving walking part 30 to synchronously move up and down through a synchronizing mechanism, and the

upper driving wheels

200 and 300 and the upper driven

wheels

202 and 302 of the upper driving walking part 20 and the lower driving walking part 30 are pressed against the inner wall of the pipeline.

Referring to fig. 9 to 12A and 12B, the synchronizing mechanism includes a first synchronizing rod 400 and a second synchronizing rod 500 mounted on the cylinder body 10, a first synchronizing rack 402 fixed on the upper bracket 208, and a second synchronizing rack 502 fixed on the lower bracket 308, wherein two ends of the first synchronizing rod 400 are respectively provided with a first synchronizing gear 404 and a first synchronizing pulley 406 that rotate coaxially, two ends of the second synchronizing rod 500 are respectively provided with a second synchronizing gear 504 and a second synchronizing pulley 506 that rotate coaxially, the first synchronizing pulley 406 and the second synchronizing pulley 506 are connected through a synchronizing belt 408, the first synchronizing gear 402 is engaged with the first synchronizing gear 404, the second synchronizing rack 502 is engaged with the second synchronizing gear 504, and the first synchronizing gear 404 and the second synchronizing gear 504 are driven to rotate synchronously by the movement of the first synchronizing gear 402 and the second synchronizing rack 502.

Referring to fig. 9 in particular, the cylinder body 10 is provided with a first linear guide 102 connected to a second linear guide 106, and the first synchronization rack 402 and the second synchronization rack 502 are connected to the cylinder body 10 through the first linear guide 102 and the second linear guide 106, respectively. In the illustrated embodiment, the first linear guide 102 is coupled to the cylinder body 10 by a first guide mounting plate 104, and the second linear guide 106 is coupled to the cylinder body 10 by a first guide mounting plate 108.

Referring to fig. 9 and 10, a first timing belt tensioning wheel 410 for adjusting the tightness degree of the first timing belt pulley 406 and a second timing belt tensioning wheel 510 for adjusting the tightness degree of the second timing belt pulley 506 are disposed on the cylinder body 10, and the tightness degrees are adjusted by adjusting screws, so as to prevent the occurrence of tooth skipping when the timing belt 408 is too loose, which affects the synchronism of the whole structure.

Referring to fig. 9 and 10, the first synchronous pulley 406 and the second synchronous pulley 506 are connected through a synchronous belt 408, when the piston rod 100 extends out of the upper and lower sides, the first synchronous pulley 406 and the second synchronous pulley 506 rotate synchronously, the first synchronous rod 400 and the second synchronous rod 500 enable the first synchronous gear 404 and the second synchronous gear 504 to rotate synchronously, and then the first synchronous gear 404 and the second synchronous gear 504 are meshed with the corresponding first synchronous rack 402 and the corresponding second synchronous rack 502, so that the first synchronous rack 402 and the second synchronous rack 502 have the same number of teeth in the process of extending out of the upper and lower sides, and finally the height of the upper and lower

driving walking members

20 and 30 from the cylinder body 10 is the same.

Referring to fig. 8, the top ends of the first and second

synchronous racks

402 and 502 are respectively provided with a mounting base 112, and the first and second

synchronous racks

402 and 502 are correspondingly connected to the upper and

lower driving units

20 and 30 through the mounting base 112.

Referring to fig. 7A and 7B, according to an embodiment of the present invention, upper and

lower driving wheels

200 and 300, upper and lower driven

wheels

202 and 302, upper and

lower transmission belts

204 and 304 connecting the upper and

lower driving wheels

200 and 300 and the upper and lower driven

wheels

202 and 302, and upper and

lower motors

206 and 306 driving the upper and

lower driving wheels

200 and 300 are respectively disposed on both sides of the upper and lower driving members 20 and 30 (the upper and

lower driving members

20 and 30 have substantially the same structure), and forward movement, backward movement, and turning of the pipe running device are realized by controlling the forward and reverse rotation and speed of the upper and

lower motors

206 and 306.

Referring to fig. 6 and 8, mounting seats 110 are disposed on two sides of the cylinder body 10 to realize docking with mounting seats corresponding to other working devices (for example, through holes are formed in the mounting seats, and connection is realized by bolts penetrating through the through holes), so as to realize quick connection and replacement of the working devices.

Referring to fig. 9 and 10, the cylinder body 10 is provided with a belt tensioner 106 and a belt adjusting screw 108, and the tightness of the belt is adjusted by the belt tensioner 106 and the belt adjusting screw 108.

Referring to fig. 13, the grinding device 5 includes two grinding support assemblies 512 supported on the inner wall of the pipeline and a grinding assembly 514 installed between the two grinding support assemblies 512, wherein the grinding assembly 514 can control the grinding sheet to move in the front-back direction and the left-right direction, so that the grinding sheet can grind and polish the welding seam inside the pipeline.

Referring to fig. 14, the rolling-sweep collecting device 6 includes two rolling-sweep supporting assemblies 612 supported on the inner wall of the pipeline and a rolling-sweep collecting assembly 614 installed between the two rolling-sweep supporting assemblies 612, wherein the rolling-sweep collecting assembly 614 can control the rolling-sweep head to move in the front-back direction and the rolling-sweep head to rotate, so as to adaptively attach to the inner wall of the pipeline, perform rolling sweep on dust, impurities and iron slag in the pipeline, and collect the dust, impurities and iron slag to complete the cleaning operation inside the pipeline.

Referring to fig. 15, the multifunctional pipeline robot of the present invention further includes a following device 8, and the following device 8 includes a following cylinder, a circuit disposed in the following cylinder, and a docking port for docking an external power source and an external air source. The follower device 8 is detachably connected to other working devices via the universal joint 714 and the mounting base 110. In the illustrated embodiment, the outer wall of the follower cylinder 812 is uniformly provided with steel ball rollers 814 to reduce friction between the follower cylinder 812 and the inner wall of the pipe.

In the pipe robot of the present invention, different working devices can be selected according to actual needs, for example, in the pipe robot shown in fig. 16, the working devices include a scanning device 3 and a polishing device 5; in the pipe robot shown in fig. 17, the working device includes the gripping device 4 and the polishing device 5; in the pipe robot shown in fig. 18, the working device includes the camera device 2 and the roll-scan collecting device 6. It will be appreciated that the above-mentioned embodiments are merely exemplary and not restrictive, and in practical use, different working devices may be selected according to specific needs, and the quick replacement and connection of the working devices may be realized by the connecting device 7.

As can be seen from the above detailed description of the specific embodiments of the present invention, compared with the prior art, the pipeline robot of the present invention has the following advantages:

1. different operation devices are selected according to needs, the replacement and connection of the different operation devices are realized through the connecting device, and multifunctional operation can be performed in the pipeline.

2. When walking in the pipeline, the cylinder of the driving walking device of the pipeline robot stretches out under the action of compressed gas, the lengths of the piston rods stretching out of the upper side and the lower side can be the same through the synchronous mechanism with the gear rack, the cylinder body of the driving walking device can be ensured to be close to the middle position of the upper driving walking part and the lower driving walking part at any height, and the problem that the cylinder body cannot coincide with the pipeline circular axis in the pipeline is solved. When the whole driving walking device encounters the positions of the reducing head, the bent pipe and the like when crawling in the pipeline, the driving walking device has higher trafficability and can be applied to various small and medium-sized pipelines.

The present invention can be modified and adapted appropriately from the above-described embodiments, according to the principles described above. Therefore, the present invention is not limited to the specific embodiments disclosed and described above, and some modifications and variations of the present invention should fall within the scope of the claims of the present invention. Furthermore, although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation.

Claims

1. A pipeline robot, comprising:

and the connecting device is detachably connected with the driving walking device and the operation device.

2. The pipeline robot of claim 1, wherein the camera device is provided with a fixing base, a camera, and a motor for driving the camera to rotate left and right in a circumferential direction, and the camera device is mounted on the walking drive device through the fixing base.

3. The pipeline robot of claim 1, wherein the scanning device is a three-dimensional scanner fixed to the walking drive device.

4. The pipeline robot of claim 1, wherein the gripping device comprises a fixing seat, a rotating motor and a pneumatic clamping jaw assembly, the fixing seat is fixed on the walking driving device, the pneumatic clamping jaw assembly and the rotating motor are fixed on the fixing seat, and the rotating motor drives the pneumatic clamping jaw assembly to expand or contract.

5. The pipeline robot of claim 1, wherein the grinding means comprises two grinding support members supported on the inner wall of the pipeline and a grinding member installed between the two grinding support members.

6. The pipeline robot of claim 1, wherein the rolling-sweep collecting means comprises two rolling-sweep supporting members supported on the inner wall of the pipeline and a rolling-sweep collecting member installed between the two rolling-sweep supporting members.

7. The pipeline robot of claim 1, wherein the walking driving device is detachably connected with a following device, and the following device comprises a following cylinder, a circuit arranged in the following cylinder, and a butt joint port for butting against an external power supply and an external air source.

8. The pipeline robot as claimed in claim 7, wherein the outer wall of the follower cylinder is uniformly provided with steel ball rollers.

9. The pipeline robot of claim 1, wherein the connecting device comprises two detachably butted electric slip rings and mounting seats on two sides of the electric slip rings, and the electric slip rings and the mounting seats are connected through universal joints.

10. The pipeline robot according to any one of claims 1 to 9, wherein the walking drive means comprises:

a cylinder body;