CN114321562B - Pipeline robot - Google Patents
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- CN114321562B CN114321562B CN202011036520.XA CN202011036520A CN114321562B CN 114321562 B CN114321562 B CN 114321562B CN 202011036520 A CN202011036520 A CN 202011036520A CN 114321562 B CN114321562 B CN 114321562B
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- 238000004891 communication Methods 0.000 claims description 18
- 230000003287 optical effect Effects 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
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- 230000001788 irregular Effects 0.000 abstract description 7
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- 230000002708 enhancing effect Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
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- 230000008569 process Effects 0.000 description 2
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- 239000002689 soil Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 239000007779 soft material Substances 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
A pipeline robot adapted to detect a pipeline filled with liquid, comprising: a compartment adapted to house a device; at least one flexible sheet-like device having a fixed end and a free end facing away from each other in an extension direction, the fixed end being connected to an outer surface of the capsule and the free end being separated from the capsule. The fixed end of the flexible sheet device is fixedly connected with the outer surface of the cabin body, and the free end is not connected with any constraint; therefore, when the pipeline robot moves in liquid and detects a pipeline filled with the liquid, the flexible sheet-shaped device can swing freely, so that irregular movements such as shaking and rotation of the cabin body can be effectively reduced, and the stability of the movement of the single cabin body in water can be effectively increased.
Description
Technical Field
The invention relates to the field of robots, in particular to a pipeline robot.
Background
The water supply pipeline is buried underground, and the problem of pipeline corrosion and damage easily occurs after long-term use, and conventional detection is difficult to meet detection requirements. The existing pipeline detection robot adopts multiple cabins, the total length of the robot is often more than 500mm, and when the robot runs in a small pipeline, an elbow is difficult to turn, so that the robot cannot be applied to detection of the small-pipe-diameter pipeline.
At present, the patent application publication in the aspect of part of pipeline detection robots in China includes:
1) Pipeline detection robot with bulletin number of CN110185887A
The application discloses pipeline inspection robot belongs to pipeline robot field, pipeline inspection robot includes: the device comprises a shooting cabin, a sealed cabin, a power cabin and a power umbrella, wherein the shooting cabin is connected with the sealed cabin, the power umbrella is fixed on the side face of the sealed cabin, the bottom of the sealed cabin is connected with the power cabin, and the power cabin is arranged at the bottom of the power cabin; the power pod uses fluid as a forward power of the robot to change the forward direction of the robot, and the ground device releases and retracts the robot using an optical cable connected to the robot. The application uses a pusher to change the direction of travel of the robot and the ground device releases and retracts the robot using an optical cable attached to the robot. According to the method, the complexity of the robot is reduced, the detection distance and the endurance performance of the robot are improved, and the timely treatment of complex conditions is realized.
2) Flexible pipeline detection robot with bulletin number of CN210398121U
This application discloses a flexible pipe inspection robot, the robot includes: the sensing cabin is positioned at the front end, one end of the sensing cabin is connected to the first functional cabin through a flexible cable, and the sensing camera and a sensing cabin light source are arranged at the other end of the sensing cabin; the first functional cabin, the second functional cabin and the third functional cabin are connected through flexible cables, and digital signals and driving currents are transmitted through the flexible cables; the front end clamping hoop is fixed at the middle position of the sensing cabin, the tail end clamping hoop is fixed on the second functional cabin, and the flexible umbrella is respectively fixed on the front end clamping hoop and the tail end clamping hoop through the front end umbrella rope and the tail end umbrella rope; one end of the control cabin is connected to the tail end cover of the third functional cabin through a flexible cable, and the other end of the control cabin is connected with a communication optical cable.
3) Node-shaped flexible device with bulletin number of CN110426800A
This application discloses a node-like flexible device which is in suspension in an aqueous or oily medium; the device comprises: the device comprises at least one rigid functional cabin section, at least one flexible cable section and a flexible tail cable, wherein the functional cabin section, the flexible cable section, the functional cabin section, the flexible cable section … … functional cabin section and the tail cable are connected end to end in sequence, and the other end of the tail cable is led to the ground and is connected with ground equipment; communication and power transmission between the functional cabin sections are realized by means of flexible cable sections.
According to the technical scheme, intelligent detection of the pipeline can be realized, but the number of cabins of the robot in the technical scheme is large, and the whole volume and the length of the robot are large.
Disclosure of Invention
The invention solves the problem of providing a pipeline robot, which reduces the volume of the robot on the premise of ensuring the motion stability of the robot.
To solve the above problems, the present invention provides a pipe robot adapted to detect a pipe filled with a liquid, comprising: a compartment adapted to house a device; at least one flexible sheet-like device having a fixed end and a free end facing away from each other in an extension direction, the fixed end being connected to an outer surface of the capsule and the free end being separated from the capsule.
Optionally, 1 or 2 cabins are included.
Optionally, the number of the tanks is 2, and the pipeline robot further includes: and the connecting cable is positioned between the adjacent cabin bodies so as to realize the connection between the cabin bodies.
Optionally, the connection cable includes: at least one of an optical cable or an electrical cable.
Optionally, the total length of the pipeline robot is less than or equal to 220mm.
Optionally, the flexible sheet means is adapted to deform under the impact of a liquid.
Optionally, the flexible sheet device is adapted to elastically deform under the influence of external forces.
Optionally, the cabin has a head and a tail opposite to each other, and the direction of the tail pointing to the head is consistent with the advancing direction of the pipeline robot; the flexible sheet device is disposed on at least one of the head portion and the tail portion.
Optionally, the number of the flexible sheet-like devices is a plurality; the plurality of flexible sheet devices are uniformly distributed along the circumference perpendicular to the advancing direction of the pipeline robot.
Optionally, the method further comprises: and the flexible sheet-shaped device is fixed on the fixed ring, and the fixed ring is fixedly connected with the cabin body.
Optionally, the method further comprises: and the strip device is fixed on the outer surface of the cabin body, and extends from the tail part to the head part along the outer surface of the cabin body.
Optionally, the strip device is a hollow structure.
Optionally, the method further comprises: and the counterweight device is detachably fixed on the outer surface of the cabin body.
Optionally, the weight device has a specific gravity of less than 0.5 or greater than 1.5.
Optionally, the method further comprises: the tail cable is connected with the tail of the cabin body in a sealing way through a half structure at one end of the tail cable; the tail cable includes: at least one of the fiber optic cable or the electrical cable to connect to an external system.
Optionally, the tail cable further includes: reinforcing wires.
Optionally, the method further comprises: the communication device is a low-frequency communication device smaller than 1 MHz.
Optionally, the overall center of gravity of the cabin is offset from the central axis parallel to the forward direction.
Optionally, the head of the cabin body is provided with a camera, the camera is used for obtaining the vertical direction of the image, and the whole gravity center of the cabin body is positioned below the central axis.
Compared with the prior art, the technical scheme of the invention has the following advantages:
according to the technical scheme, the flexible sheet-shaped device is arranged on the outer surface of the cabin body, the fixed end of the flexible sheet-shaped device is fixedly connected with the outer surface of the cabin body, and the free end is not connected by any constraint; therefore, when the pipeline robot moves in liquid and detects a pipeline filled with the liquid, the flexible sheet-shaped device can swing freely, so that irregular movements such as shaking and rotation of the cabin body can be effectively reduced, and the stability of the movement of the single cabin body in water can be effectively increased.
In an alternative, the pipeline robot comprises only 1 or 2 cabins. The improvement of the motion stability of the single cabin body does not need to increase the length-diameter ratio for ensuring the overall motion stability of the pipeline robot, namely, the pipeline robot can stably move in liquid even if only 1 or 2 cabins with smaller quantity are arranged, and the reduction of the quantity of the cabins in the pipeline robot can effectively shorten the overall length of the pipeline robot and is beneficial to realizing the detection of the elbow with the small curvature radius.
In an alternative scheme, the flexible sheet device can deform to be opened under the impact of liquid, so that the projection area of the pipeline robot in a plane perpendicular to the flowing direction of the liquid can be effectively increased, and the power of the pipeline robot in the liquid can be increased.
In the alternative scheme, the flexible sheet device can take place elastic deformation under the effect of external force, on the one hand, the flexible sheet device can take place elastic deformation under the collision of pipe wall, or other debris in the liquid, thereby can reduce the direct collision of pipeline robot and pipe wall can also be through deformation in order to reduce pipeline robot in the change of the projection area in the plane of perpendicular liquid flow direction in order to adapt to the pipeline size when the pipeline reducing, can also be through reducing pipeline after automatic re-setting, can effectively expand the adaptability and the flexibility of pipeline robot.
In an alternative scheme, the flexible sheet device is at least arranged on at least one of the head part and the tail part of the cabin body, so that the motion stability enhancing effect of the flexible sheet device can be effectively improved, and the motion stability of a single cabin body during the motion of the pipeline robot is ensured.
In an alternative, the direction of the fixed end pointing to the free end is consistent with the direction of the head pointing to the tail. The arrangement mode can effectively enhance the action of the flexible sheet-shaped device for improving the motion stability, can form a shape with a small front part and a large rear part, and is beneficial to the flexible sheet-shaped device to elastically deform when encountering the condition that the pipe diameter is reduced, so that the flexibility of the pipeline robot is improved.
In an alternative, the pipeline robot further includes: and a strip device fixedly protruding from the outer surface of the cabin body, wherein the strip device extends from the head part to the tail part along the outer surface of the cabin body. The strip device can effectively improve the stability of movement of the single cabin body and can prevent the single cabin body from rotating axially.
In an alternative, the strip device is a hollow structure. The internal space of the strip device can be used as a counterweight space for loading counterweight materials, thereby playing a role in adjusting the specific gravity and the gravity center position of the robot. The arrangement of the hollow structure strip device can adjust the specific gravity and the gravity center position of the robot on the premise of not damaging the tightness of the cabin body.
In an alternative, the pipeline robot further includes: at least one weight device removably secured to an outer surface of the nacelle. The weight device is arranged, so that the specific gravity and the gravity center position of the robot can be adjusted on the premise of not damaging the tightness of the cabin body.
In an alternative, the pipeline robot further comprises a tail cable. The tail cable is suitable for signal transmission and equipment recovery; the tail cable also comprises a reinforcing wire, the tensile property of the tail cable can be effectively improved by the reinforcing wire, and the connection reliability of the pipeline robot can be greatly improved.
In an alternative, the pipeline robot further comprises a communication device, and the communication device is a low-frequency communication device smaller than 1 MHz. The low-frequency communication device smaller than 1MHz can penetrate through the soil layer, and the pipeline robot and the ground device can realize wireless communication by carrying the low-frequency communication device smaller than 1 MHz.
In an alternative scheme, the gravity center of the cabin body is located right below the central axis. When the overturning occurs, the combined action of gravity and buoyancy can realize the posture adjustment of the cabin body, so that the pipeline robot comprising the cabin body can automatically return to the normal position after the overturning occurs in the moving process, and the movement stability of the pipeline robot is improved.
Drawings
FIG. 1 is a schematic view of a construction of an embodiment of a pipe robot according to the present invention;
FIG. 2 is a schematic perspective view of the flexible sheet device of the embodiment of FIG. 1;
fig. 3 is a schematic structural view of another embodiment of the pipe robot of the present invention.
Detailed Description
As known from the background art, the pipeline robot in the prior art has the problems of excessive cabin quantity, and excessive whole volume and length. The cause of the problems is now analyzed in combination with the prior art:
in the case of pipeline inspection, the pipeline robot is suspended in the liquid flowing in the pipeline, and the power of the pipeline robot is derived from the liquid flowing in the pipeline, namely, the pipeline robot advances along the flow of the liquid under the pushing of the liquid.
When detecting the pipeline, the pipeline robot can not only advance under the pushing of liquid, but also generate various irregular motions such as shaking and rotation due to various reasons such as the vortex of local liquid, the collision of the pipeline wall and the like.
Therefore, in order to ensure that the advancing direction is generally consistent with the flowing direction of the liquid and improve the movement stability, the pipeline robot in the prior art often adopts a multi-cabin design, namely more than three cabins are arranged in the pipeline robot, so that the phase change is realized and the length-diameter ratio of the whole pipeline robot is increased; the design of the multiple cabins can also provide more space for the arrangement of the functional devices.
Therefore, the existing pipeline robot often has the problems of excessive cabin quantity and overlarge overall size, and cannot meet the detection of small-pipe-diameter pipelines.
To solve the technical problem, the present invention provides a pipeline robot adapted to detect a pipeline filled with a liquid, including: a compartment adapted to house a device; the flexible sheet device is provided with a fixed end and a free end which are opposite in the extending direction, the fixed end is fixedly connected with the outer surface of the cabin body, and the free end is separated from the cabin body.
When the pipeline robot moves in liquid and detects a pipeline filled with the liquid, the flexible sheet-shaped device can swing freely, so that irregular movements such as shaking and rotation of the cabin body can be effectively reduced, and the stability of the single cabin body in water can be effectively increased.
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings.
The pipeline robot 100 is capable of detecting a liquid-filled pipeline in which the pipeline moves forward along with the flow of the liquid.
The pipe robot 100 includes: a compartment 110, said compartment 110 being adapted to house a device; at least one flexible sheet-like device 120, the flexible sheet-like device 120 has a fixed end 121 and a free end 122 facing away from each other in the extending direction, the fixed end 121 being fixedly connected to the outer surface of the capsule 110, and the free end 122 being separated from the capsule 110.
Since the flexible sheet device 120 has only the fixed end 121 fixedly connected to the outer surface of the tank body 110, and the free end 122 is separated from the tank body 110, and the flexible sheet device is capable of being deformed, when the pipe robot 100 moves in the liquid, the flexible sheet device 120 can swing, thereby effectively reducing irregular movements of the tank body 110 such as shaking and rotation, and effectively increasing stability of the tank body 110 in the water.
Specifically, the technical scheme of the invention is described in detail below with reference to the accompanying drawings.
The cabinet 110 is used to form a closed space to assemble various devices.
The cabin 110 is internally provided with various signal acquisition devices, including one or more of a positioning signal acquisition device, an image signal acquisition device, a sound signal acquisition device, a temperature signal acquisition device, a humidity signal acquisition device and a pressure signal acquisition device.
In this embodiment, as shown in fig. 1, the cabin 110 has a head 112 and a tail 111 opposite to each other, and the direction in which the tail 111 points to the head 112 coincides with the advancing direction v of the pipe robot 100. The camera 101 in the image acquisition device is arranged on the head 112; the sound sensor 102 in the sound signal acquisition device and the pressure sensor 103 in the pressure signal acquisition device are both arranged at the tail part. It should be noted that the arrangement of the sensors in the various signal acquisition devices shown in the drawings is only an example, and the technical scheme of the present invention is not limited in this way.
In this embodiment, the cabin 110 is an ellipsoid. The ellipsoidal shape of the capsule 110 is but one example. In other embodiments of the present invention, the shape of the cabin 110 may be a cylinder, a cuboid, a cube, or a plurality of irregular shapes.
It should be noted that the illustration in fig. 1 is a schematic cross-sectional structure of the pipe robot 100, and its cross section is parallel to the vertical direction y in which the camera 101 obtains an image and passes through the central axis 141 of the pipe robot 100 parallel to the advancing direction v.
In this embodiment, the pipe robot 100 includes 1 cabin 110. In other embodiments of the present invention, the pipeline robot may further include 2 tanks. Since the flexible sheet device 120 is provided to effectively enhance the movement stability of the single capsule 110, there is no need to increase the number of capsules 110 to change the aspect ratio in order to ensure the overall movement stability of the pipe robot 100, that is, the pipe robot can stably move in a liquid even if it has only 1 or 2 smaller capsules.
When the pipeline robot includes 2 cabins, the pipeline robot further includes: and the connecting cable is positioned between the adjacent cabin bodies so as to realize the connection between the cabin bodies. Specifically, the connection cable includes at least one of an optical cable or an electrical cable. The connecting cable can realize transmission and connection of various signals between the two cabins. Specifically, the connection cable can realize transmission of one or more signals such as power, positioning signals, image signals, sound signals, temperature signals, pressure signals and the like.
In this embodiment, the total length of the pipe robot 100 is 220mm or less. The control of the number of the cabin bodies 110 in the pipeline robot 100 can effectively control the overall length of the pipeline robot 100, thereby being beneficial to realizing the detection of the small curvature radius elbow.
When the pipe robot 100 moves in the liquid, the flexible sheet device 120 can effectively prevent the cabin 110 from vibrating, rotating and the like, and can effectively increase the stability of the individual cabin 110 in the water.
The flexible sheet device 120 is elongated and has a fixed end and a free end opposite to each other in the extending direction, wherein the fixed end is connected to the surface of the housing 110, and the free end is separated from the housing 110.
Because the free end is separated from the cabin 110, that is, the free end is not constrained and connected by the cabin 110, and the flexible sheet device is made of soft material and can deform, when the pipe robot 100 moves in the liquid, the free end can swing freely in the liquid, so that the free end deforms according to the specific flowing condition of the liquid and further plays a role in stabilizing the movement of the individual cabin 110.
Further, since the flexible sheet device 120 is capable of being deformed, the pipe robot 100 may advance under the flow of the liquid when the pipe robot 100 moves, and the flexible sheet device 120 is deformed under the impact of the flowing liquid.
The deformation of the flexible sheet device 120 means that the shape of the flexible sheet device 120 is changed under the impact of water flow. At a certain liquid flow rate, the deformation of the flexible sheet-like device 120 causes it to open, i.e. the free end moves away from the outer surface of the nacelle 120, so that the projected area of the pipe robot 100 increases in a plane perpendicular to the advancing direction v. Since the pipe robot 100 moves along the flow of the liquid, the advancing direction v coincides with the flow direction of the liquid, and thus an increase in the projected area of the pipe robot 100 in a plane perpendicular to the advancing direction v causes the pipe robot 100 to receive a greater thrust of the liquid, thereby enabling an increase in the power of the pipe robot 100 in the liquid.
The degree of deformation of the flexible sheet-like device 120 is related to the flow rate of the liquid, i.e. the angle at which the flexible sheet-like device opens in the liquid will vary with the flow rate of the liquid.
As described above, the deformation of the flexible sheet device 120 can power the movement of the pipe robot 100 in the liquid, so that at a certain liquid flow rate, as the liquid flow rate increases, the deformation degree of the flexible sheet device 120 increases gradually, and the free end moves gradually away from the surface of the capsule 110 until reaching the farthest end from the capsule 110, and the movement speed of the pipe robot 100 increases gradually.
However, after the free end reaches the furthest end from the capsule 110, further increases in the flow rate of the liquid will cause the flexible sheet device 120 to deform further, thereby assuming a bent state, i.e. the free end moves towards the head 112 of the capsule 110, and the flexible sheet device 120 assumes a bend protruding towards the tail 111 of the capsule 110 (as shown by the shape of the flexible sheet device 120 in fig. 1). After the flexible sheet device 120 is bent, in a plane perpendicular to the advancing direction v, the projected area of the pipeline robot 100 is reduced, and the speed of the pipeline robot is not increased additionally, but the bent flexible sheet device 120 can play a good role in guiding the flow of the liquid, so that the stability of the cabin 110 can be ensured while the movement speed of the pipeline robot 100 is ensured.
In this embodiment, the deformation of the flexible sheet device 120 is changed into elastic deformation, that is, the deformation of the flexible sheet device 120 can be automatically recovered, so that the stable movement of the cabin 110 can be ensured under the condition of different liquid flow rates.
In addition, the flexible sheet device 120 is also capable of being elastically deformed by external force. Therefore, the flexible sheet device 120 can be elastically deformed under the collision of the pipe wall or other sundries in the liquid, so that the direct collision of the pipe robot 100 with the pipe wall can be reduced; the flexible sheet device 120 capable of being elastically deformed can be deformed to reduce the projection area of the pipeline robot 100 in a plane perpendicular to the advancing direction v to adapt to the change of the pipeline size when the pipeline is changed in diameter, and can be automatically reset after the pipeline is changed, so that the adaptability and the flexibility of the pipeline robot 100 can be effectively expanded.
As shown in fig. 1, the cabin 110 has a tail 111 and a head 112 opposite to each other, and the direction in which the tail 111 points to the head 112 coincides with the advancing direction v of the pipe robot; the flexible sheet device 120 is at least arranged on at least one of the head and the tail, so that the stability enhancing effect of the flexible sheet device 120 can be effectively improved, and the stability of the single cabin 110 during the movement of the pipe robot 100 can be ensured.
Referring in conjunction to fig. 2, a schematic perspective view of the flexible sheet-like device of the embodiment of fig. 1 is shown.
As shown in fig. 2, the number of the flexible sheet-like devices 120 is plural; the plurality of flexible sheet devices 120 are uniformly distributed along a circumferential direction perpendicular to the advancing direction v of the pipe robot 100. The flexible sheet-like devices 120 are uniformly arranged in the circumferential direction, so that the diversion effect around the cabin 110 is balanced, and the stability of the movement of the cabin 110 can be effectively improved.
In addition, referring to fig. 1 and 2 in combination, the projection points of the free end and the fixed end on the central axis of the cabin 110 are consistent with the advancing direction v of the pipeline robot 100 from the direction of the free end to the fixed end, and this arrangement mode can effectively enhance the effect of improving stability, and can also form a shape with a small front and a large rear, so that when the pipe diameter is reduced, the flexible sheet-shaped device can be elastically deformed, so that the pipeline robot 100 is more suitable for pipeline diameter variation, and the flexibility of the pipeline robot is improved.
It should be noted that, as shown in fig. 2, the pipeline robot 100 further includes a fixing ring 123, the flexible sheet device 120 is fixed on the fixing ring 123, and the fixing ring 123 is fixedly connected to the cabin 110 (as shown in fig. 1). Specifically, the fixing ring 123 may be clamped to the cabin 110, so as to connect the fixing end of the flexible sheet device 120 to the outer surface of the cabin 110. However, the fastening manner of the fixing ring 123 is merely an example, and in other embodiments of the present invention, the flexible sheet device may be connected to the cabin by other methods.
With continued reference to fig. 1, in this embodiment, the pipe robot further includes: an elongated device 130, said elongated device 130 being secured to an outer surface of said nacelle 110, said elongated device 130 extending along said outer surface of said nacelle 110 from said tail 111 to said head 112.
The long-strip device 130 can guide the liquid near the outer surface of the cabin 110, so that the axial rotation of the robot can be effectively reduced, and the stability of the single cabin 110 can be improved. Specifically, the elongated device 130 has a prismatic shape and extends closely to the outer surface of the cabin 110.
In this embodiment, the strip device 130 is a hollow structure. The inner space of the long strip device 130 can be used as a weight space to load weight materials, the loading amount and the loading position of the weight materials in the inner space of the long strip device 130 can directly influence the average specific gravity and the overall gravity center position of the pipeline robot 100, so that the average specific gravity of the pipeline robot 100 can be adjusted to be close to liquid by adjusting the loading amount of the weight materials, the pipeline robot 100 is suspended in the liquid, and the overall gravity center position of the pipeline robot 100 is adjusted by adjusting the loading position of the weight materials, so that the motion stability of the pipeline robot 100 is ensured. The hollow structure strip device 130 is arranged to adjust the gravity and the gravity center position of the pipeline robot 100 without damaging the tightness of the cabin 110.
Further, as shown in fig. 1, the pipe robot 100 further includes: at least one weight means (not shown) removably secured to the outer surface 110 of the nacelle. Specifically, the specific gravity of the counterweight device is less than 0.5 or more than 1.5. The arrangement of the external counterweight device can adjust the specific gravity and the gravity center position of the pipeline robot 100 from the outside of the cabin 110 on the premise of not disassembling the sealing structure of the cabin 110, so that the single cabin 110 is suspended in the liquid, and the convenience of counterweight of the single cabin 110 is improved.
In this embodiment, the center of gravity 140 of the cabin 110 is offset from the central axis 141 parallel to the advancing direction v. Wherein the overall center of gravity of the pod 110 refers to the center of gravity of the pod 110 alone under the combined action of the pod 110, the device housed within the pod 110, and the flexible sheet device 120, in combination with one or more of the elongated device 130 and the counterweight device. When the cabin body 110 is turned over, the combined action of gravity and buoyancy can realize the posture adjustment of the cabin body 110 and the self-righting when the whole gravity center 140 of the cabin body 110 deviates from the central axis 141.
In addition, in this embodiment, the head 112 of the cabin 110 has a camera 101, and the center of gravity 140 of the whole cabin 110 is located below the central axis 141 along the vertical direction y in which the camera 101 obtains an image. The arrangement mode can ensure that the camera 101 obtains a forward picture as much as possible, is favorable for obtaining a more accurate detection result, can effectively reduce the axial selection of the pipeline robot 100 by taking the central axis 141 as a rotating shaft, can avoid the pipeline robot 100 from overturning forwards and backwards by taking the vertical direction y as an axis as much as possible, is favorable for increasing the motion stability of the pipeline robot, and simultaneously ensures that the robot has the automatic adjustment capability of automatic reset during overturning, thereby further improving the stability of the robot.
With continued reference to fig. 1, in this embodiment, the pipe robot further includes: the tail cable 150, one end of the tail cable 150 is connected to the tail 111 of the cabin 100 in a sealing way through a half structure; the tail cable 150 includes: at least one of the fiber optic cable or the electrical cable to connect to an external system. Specifically, the tail cable 150 further includes a reinforcing wire (not shown). The tail cable is suitable for signal transmission and equipment recovery; the metal or nonmetal reinforcing wire in the tail cable can effectively improve the tensile property of the tail cable and greatly improve the connection reliability of the pipeline robot.
In this embodiment, the pipe robot 100 further includes: the communication device is a low-frequency communication device smaller than 1 MHz. The low-frequency communication device smaller than 1MHz can penetrate through a soil layer, and the method of carrying the low-frequency communication device smaller than 1MHz can enable the pipeline robot to realize wireless communication with a ground device, so that an external system can obtain various signals such as the position, sound, pressure, image and the like of the pipeline robot.
It should be further noted that, in this embodiment, the pipeline robot 100 may implement wired connection with an external system through the tail cable 150, or may implement wireless connection with an external system through a communication device, and according to different devices carried in the cabin 100, the pipeline robot 100 may send various signals to the external system, so that the pipeline robot 100 may not only detect a pipeline, but also draw a pipeline while detecting the pipeline.
Referring to fig. 3, a schematic structural view of another embodiment of the pipe robot of the present invention is shown.
The schematic structure of fig. 3 is a schematic cross-sectional structure of the same cross-section as fig. 1.
This embodiment is the same as the previous embodiment, and the present invention will not be repeated. The present embodiment is different from the foregoing embodiment in that, in the present embodiment, in the pipe robot 200, the tail 211 and the head 212 of the cabin 210 are both provided with the flexible sheet device 220.
In summary, according to the technical scheme, a flexible sheet device is arranged on the outer surface of a cabin, a fixed end of the flexible sheet device is fixedly connected with the outer surface of the cabin, and the free end is not connected by any constraint; therefore, when the pipeline robot moves in liquid and detects a pipeline filled with the liquid, the flexible sheet-shaped device can swing freely, so that irregular movements such as shaking and rotation of the cabin body can be effectively reduced, and the stability of the movement of the single cabin body in water can be effectively increased. Furthermore, the pipe robot includes only 1 or 2 of the tanks. The improvement of the motion stability of the single cabin body does not need to increase the length-diameter ratio for ensuring the overall motion stability of the pipeline robot, namely, the pipeline robot can stably move in liquid even if only 1 or 2 cabins with smaller quantity are arranged, and the reduction of the quantity of the cabins in the pipeline robot can effectively shorten the overall length of the pipeline robot and is beneficial to realizing the detection of the elbow with the small curvature radius. In addition, the flexible sheet device can deform to be opened under the impact of liquid, so that the projection area of the pipeline robot in a plane perpendicular to the flowing direction of the liquid can be effectively increased, and the power of the pipeline robot in the liquid can be increased. In addition, flexible sheet device can take place elastic deformation under the effect of external force, on the one hand, flexible sheet device can take place elastic deformation under the collision of pipe wall, perhaps other debris in the liquid to can reduce pipeline robot and pipe wall's direct collision can also reduce pipeline robot through deformation in order to adapt to the change of pipeline size in order to reduce pipeline robot's projection area in the plane of perpendicular liquid flow direction when the pipeline reducing, can also be through reducing pipeline after automatic re-setting, can effectively expand pipeline robot's adaptability and flexibility. In an alternative, the pipeline robot further includes: and the strip device is fixedly protruding on the outer surface of the cabin body and extends from the head part to the tail part along the outer surface of the cabin body. The strip device can effectively improve the stability of movement of a single cabin body, and can avoid the single cabin body from rotating axially. Moreover, the strip device is of a hollow structure. The internal space of the strip device can be used as a counterweight space for loading counterweight materials, thereby playing a role in adjusting the specific gravity and the gravity center position of the robot. The arrangement of the hollow structure strip device can adjust the specific gravity and the gravity center position of the robot on the premise of not damaging the tightness of the cabin body. Further, the pipe robot further includes: at least one weight device removably secured to an outer surface of the nacelle. The weight device is arranged, so that the specific gravity and the gravity center position of the robot can be adjusted on the premise of not damaging the tightness of the cabin body. Therefore, the center of gravity of the cabin is located right below the central axis. When the overturning occurs, the combined action of gravity and buoyancy can realize the posture adjustment of the cabin body, so that the pipeline robot comprising the cabin body can automatically return to the normal position after the overturning occurs in the moving process, and the movement stability of the pipeline robot is improved.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and the scope of the invention should be assessed accordingly to that of the appended claims.
Claims (16)
1. A pipeline robot adapted to detect a pipeline filled with liquid, comprising:
a compartment adapted to house a device; the cabin body is provided with a head part and a tail part which are opposite, and the direction of the tail part pointing to the head part is consistent with the advancing direction of the pipeline robot;
a plurality of flexible sheet-like devices having fixed ends and free ends facing away from each other in an extending direction, the fixed ends being connected to an outer surface of the cabin and the free ends being separated from the cabin;
a fixing ring; the flexible sheet devices are fixed on the fixed ring and are uniformly distributed along the circumference perpendicular to the advancing direction of the pipeline robot; the fixed ring is fixedly connected with the cabin body;
with the increase of the liquid flow rate, the free end of the flexible sheet device gradually moves away from the surface of the cabin until reaching the furthest end from the cabin, and after the liquid flow rate is further increased, the free end of the flexible sheet device moves towards the head of the cabin so as to ensure the stability of the cabin while ensuring the movement speed of the pipeline robot.
2. The pipe robot of claim 1, comprising 1 or 2 of said pods.
3. The pipeline robot according to claim 2, wherein the number of the tanks is 2,
the pipe robot further includes: and the connecting cable is positioned between the adjacent cabin bodies so as to realize the connection between the cabin bodies.
4. The pipe robot of claim 3, wherein the connection cable comprises: at least one of an optical cable or an electrical cable.
5. The pipe robot of claim 1, wherein the total length of the pipe robot is 220mm or less.
6. The pipe robot of claim 1, wherein the flexible sheet device is adapted to elastically deform under the influence of external forces.
7. The pipeline robot according to claim 1, wherein,
the flexible sheet device is disposed on at least one of the head portion and the tail portion.
8. The pipe robot of claim 1, further comprising: and the strip device is fixed on the outer surface of the cabin body and extends from the tail part to the head part along the outer surface of the cabin body.
9. The pipe robot of claim 8, wherein the elongated device is a hollow structure.
10. The pipe robot of claim 1, further comprising: and the counterweight device is detachably fixed on the outer surface of the cabin body.
11. The pipe robot of claim 10, wherein the weight means has a specific gravity of less than 0.5 or greater than 1.5.
12. The pipe robot of claim 1, further comprising: the tail cable is connected with the tail of the cabin body in a sealing way through a half structure at one end of the tail cable;
the tail cable includes: at least one of the fiber optic cable or the electrical cable to connect to an external system.
13. The pipe robot of claim 12, wherein the tail cable further comprises: reinforcing wires.
14. The pipe robot of claim 1, further comprising: the communication device is a low-frequency communication device smaller than 1 MHz.
15. The pipe robot of claim 1, wherein the overall center of gravity of the capsule is offset from a central axis parallel to the forward direction.
16. The pipe robot of claim 15, wherein the head of the capsule has a camera, and wherein the overall center of gravity of the capsule is located below the central axis in a vertical direction along which the camera obtains images.
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| CN202011036520.XA CN114321562B (en) | 2020-09-27 | 2020-09-27 | Pipeline robot |
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| CN202011036520.XA CN114321562B (en) | 2020-09-27 | 2020-09-27 | Pipeline robot |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201145101Y (en) * | 2008-01-22 | 2008-11-05 | 吕明俊 | Pipe wiring device |
| CN107654792A (en) * | 2017-08-28 | 2018-02-02 | 西安杰林凯信息科技有限公司 | Video-frequency inspecting robot is peeped in a kind of small-bore pipeline is pneumatic |
| CN111649192A (en) * | 2020-05-09 | 2020-09-11 | 宜昌华腾管道工程有限公司 | Pipeline inspection robot |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3682215B1 (en) * | 2017-09-13 | 2023-11-08 | Entegra LLP | Speed control device for a smart pipeline inspection gauge |
| WO2020176996A1 (en) * | 2019-03-06 | 2020-09-10 | Pure Technologies Ltd. | A rotatable inspection module and method for inspecting the conditions of the wall of a pipeline |
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2020
- 2020-09-27 CN CN202011036520.XA patent/CN114321562B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201145101Y (en) * | 2008-01-22 | 2008-11-05 | 吕明俊 | Pipe wiring device |
| CN107654792A (en) * | 2017-08-28 | 2018-02-02 | 西安杰林凯信息科技有限公司 | Video-frequency inspecting robot is peeped in a kind of small-bore pipeline is pneumatic |
| CN111649192A (en) * | 2020-05-09 | 2020-09-11 | 宜昌华腾管道工程有限公司 | Pipeline inspection robot |
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