CN114396530A - Robot is patrolled and examined fast to ultra-long distance conduit - Google Patents

Robot is patrolled and examined fast to ultra-long distance conduit Download PDF

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Publication number
CN114396530A
CN114396530A CN202210078458.3A CN202210078458A CN114396530A CN 114396530 A CN114396530 A CN 114396530A CN 202210078458 A CN202210078458 A CN 202210078458A CN 114396530 A CN114396530 A CN 114396530A
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China
Prior art keywords
fixedly connected
wall
shaft
shell
pipeline
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Granted
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CN202210078458.3A
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Chinese (zh)
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CN114396530B (en
Inventor
陆俊
明攀
董茂干
范向前
喻江
陈徐东
王成俊
戴海英
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Nanjing Hydraulic Research Institute of National Energy Administration Ministry of Transport Ministry of Water Resources
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Nanjing Hydraulic Research Institute of National Energy Administration Ministry of Transport Ministry of Water Resources
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Priority to CN202210078458.3A priority Critical patent/CN114396530B/en
Publication of CN114396530A publication Critical patent/CN114396530A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
    • F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects
    • F16L55/40—Constructional aspects of the body
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L2101/00—Uses or applications of pigs or moles
    • F16L2101/30—Inspecting, measuring or testing

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

The invention relates to the technical field of pipeline detection, and discloses a quick inspection robot for an ultra-long distance water pipeline, which comprises a shell and a detector body, wherein the detector body is fixed at the upper end of the shell, notches are formed in the corners of the two sides of the lower end of the shell, transmission mechanisms are arranged in the two notches, the shell is fixedly connected with a transverse plate, two adjusting mechanisms are arranged below the transverse plate, the two adjusting mechanisms are respectively connected with the two transmission mechanisms, and the transmission mechanisms are arranged in the two notches and used for supporting and driving the shell and can change the position of the shell in the pipeline. This robot is patrolled and examined fast to extra-long distance water pipe can adjust route and fuselage gesture of marcing in the pipeline, makes the robot can cross the damage department of barrier and pipeline in the pipeline fast, has improved the barrier performance reinforce that hinders more of pipeline robot to after going deep into the pipeline, also can not lead to the unable safe recovery of robot because of losing drive power.

Description

Robot is patrolled and examined fast to ultra-long distance conduit
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a quick inspection robot for an ultra-long distance water pipeline.
Background
Because water resource distribution in China is uneven, how to reasonably allocate water resources and efficiently utilize the water resources becomes the strategic problem of the country, the ultra-long-distance water delivery pipeline is popularized and applied in China in a large quantity as a rapid and efficient water delivery mode, but in the construction process of the water delivery pipeline, the pipeline has the defects of bulging, cracking and the like due to the production quality problem of the pipeline and the non-standard construction. And in the later operation process, the damage inside the pipeline is caused by the actions of water hammer, corrosion, high-speed sand-containing water flow and the like, and if the defects of the pipeline cannot be overhauled in time, the paralysis of a water supply system is easily caused. Therefore, the inspection of the pipeline quality is required in the construction process and the later periodic maintenance process, and the safe operation of the water delivery project is guaranteed.
At present, water delivery and transfer projects of China generally reach hundreds of kilometers, water delivery pipeline sections also have dozens of kilometers or hundreds of kilometers, therefore, pipeline robots are mostly adopted for detection, and the pipeline robots carry closed circuit television detection systems (CCTV), image information in pipelines is transmitted back in real time through cameras to evaluate the quality of the pipelines, and whether the pipelines have defects is judged.
At present, although the robot can be suitable for different pipelines to use, because the support arm supports the body shell at the center of the pipeline, once a damaged water delivery pipe section is met, the driving wheel of the robot cannot be in close contact with the pipeline wall, the pipeline inspection robot also loses the driving force and is trapped in the pipeline, and due to the limitation of the structure of the robot, the robot which goes deep into the pipeline cannot adjust the traveling route and the body posture in the pipeline, the obstacle crossing performance of the robot is poor, and the pipeline which is damaged or silted up cannot be continuously detected and maintained.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a quick inspection robot for an ultra-long distance water pipeline, which has the advantages of strong obstacle crossing performance, capability of adjusting a traveling route and a body posture in the pipeline, capability of enabling the robot to quickly cross obstacles in the pipeline and damaged positions of the pipeline, capability of preventing the robot from being incapable of safely recovering due to the loss of driving force after penetrating into the pipeline, and the like, and solves the problems that the driving wheel of the robot cannot be in close contact with the pipeline wall when the traditional robot encounters a damaged water pipeline section, the pipeline inspection robot also loses the driving force and is trapped in the pipeline, and the obstacle crossing performance of the traditional robot is poor due to the limitation of the structure of the robot, so that the damaged or blocked pipeline cannot be continuously detected and maintained.
(II) technical scheme
In order to achieve the purpose, the invention provides the following technical scheme: a quick inspection robot for an ultra-long distance water pipeline comprises a shell and a detector body, wherein the detector body is fixed at the upper end of the shell, notches are formed in the corners of the two sides of the lower end of the shell, transmission mechanisms are arranged in the two notches, a transverse plate is fixedly connected with the shell, two adjusting mechanisms are arranged below the transverse plate, and the two adjusting mechanisms are respectively connected with the two transmission mechanisms;
the transmission mechanisms are arranged in the two gaps and used for supporting and driving the shell, so that the height of the shell in the pipeline can be adjusted;
the adjusting mechanism can change the travel track and the posture of the shell in the pipeline.
Preferably, one end of the transverse plate is fixedly connected with a partition plate, the partition plate is fixedly connected with the inner wall of the shell, a transverse shaft is rotatably connected between one side of the partition plate and the inner wall of the shell through a first ball bearing, two first bevel gears are fixedly connected to the shaft wall of the transverse shaft, the two transmission mechanisms are symmetrically connected to two sides of the first bevel gears, a first motor is fixedly connected to one side of the partition plate, the output end of the first motor penetrates through a first rolling bearing and is fixedly connected with one end of the transverse shaft, the lower end of the partition plate is connected with a positioning mechanism, the positioning mechanism is connected with two positioning rods, and the two positioning rods are respectively connected with the transmission mechanisms in the two notches.
Preferably, the transmission mechanism comprises a fixed plate, two opposite sides of the fixed plate are fixedly connected with connecting rods, one end of each connecting rod is fixedly connected with an annular block, the inner side of the annular block is rotationally connected with the shaft wall of the transverse shaft through a second ball bearing, the side wall of the fixed plate is rotationally connected with a transverse pipe through a third ball bearing, the pipe wall of the transverse pipe is sleeved with a sleeve pipe, the pipe wall of the sleeve pipe is rotatably connected with a connecting plate through a fourth ball bearing, the connecting plate is fixedly connected with one end of the positioning rod, one end of the sleeve is fixedly connected with a shell, a rotating shaft is rotatably connected in the shell through a sealing bearing, the lower end of the rotating shaft is fixedly connected with a roller, the telescopic mechanism is arranged in the transverse pipe and the sleeve, the telescopic machine is connected with the first bevel gear and the rotating shaft, and the pipe wall of the transverse pipe is connected with the adjusting mechanism.
Preferably, the telescopic mechanism comprises a rotating shaft and a connecting shaft, the rotating shaft and the connecting shaft are respectively and rotatably connected with the inner walls of the transverse pipe and the sleeve pipe through a first rolling bearing, one end of the rotating shaft extends out of the transverse pipe and is fixedly connected with a second bevel gear which is meshed with the first bevel gear, the other end of the rotating shaft is fixedly connected with a hexagonal shaft, a hexagonal pipe is sleeved on the shaft wall of the hexagonal shaft, one end of the connecting shaft is fixedly connected with one end of the hexagonal tube, the other end of the connecting shaft penetrates through the side wall of the shell and is fixedly connected with a third bevel gear, one side of the third bevel gear is engaged with a fourth bevel gear, one side of the fourth bevel gear is fixedly connected with the upper end of the rotating shaft, a strip-shaped hole is formed in the wall of the sleeve, a limiting block is arranged in the strip-shaped hole, and one end of the limiting block extends into the sleeve and is fixedly connected with the wall of the transverse pipe.
Preferably, guiding mechanism includes the transmission shaft, be connected with a plurality of bearing frames on the axial wall of transmission shaft, and the pole wall fixed connection of bearing frame and connecting rod, one of them one side fixedly connected with second motor of bearing frame, the output of second motor and the one end fixed connection of transmission shaft, two worms of fixedly connected with on the axial wall of transmission shaft, two all mesh on the pole wall of worm has the worm wheel, the pipe wall fixed connection of worm wheel and violently pipe.
Preferably, positioning mechanism includes two-way lead screw, be equipped with two transmission blocks on the pole wall of two-way lead screw, two the transmission block all is through the pole wall threaded connection of screw hole with two-way lead screw, the one end of transmission block contacts with the lateral wall of diaphragm, the other end of transmission block is connected with the pull rod through the pin rotation, the one end that the transmission block was kept away from to the pull rod is rotated through the pole wall of round pin axle with the locating lever and is connected, the both ends of two-way lead screw all rotate through the inner wall of second ball bearing with the casing and be connected, the first gear of fixedly connected with on the pole wall of two-way lead screw, one side meshing of first gear has the second gear, the lower extreme fixedly connected with third motor of diaphragm, the output of third motor and one side fixed connection of second gear.
(III) advantageous effects
Compared with the prior art, the invention provides a quick inspection robot for an ultra-long distance water pipeline, which has the following beneficial effects:
1. when the robot is used, the positioning mechanism consisting of the third motor, the second gear, the first gear, the two-way screw rod, the transmission block, the pull rod and the positioning rod is used for adjusting the two transmission mechanisms to be in contact with the inner wall of the pipeline, the robot is positioned in the pipeline at different angles, then the first motor, the transverse shaft and the first bevel gear are used for driving the two transmission mechanisms to work, so that the pipeline inspection robot walks in the pipeline, when the robot walks, the angles of the transmission mechanisms can be adjusted by the aid of the adjustment mechanism, the travelling route and the body posture of the robot in the pipeline can be changed, the posture of the robot in the pipeline and the travelling avoidance route of the robot are changed, and the obstacle crossing performance of the robot is effectively improved.
2. The invention is provided with a transmission mechanism which comprises a second bevel gear, a rotating shaft, a hexagonal pipe, a connecting shaft, a third bevel gear, a fourth bevel gear and a roller, so that friction force can be generated between the roller and the pipeline wall to drive the shell to move in the pipeline, when the positioning rod pushes the connecting plate, the sleeve slides on the pipe wall of the transverse pipe to stretch and retract, the hexagonal shaft also slides and retracts in the hexagonal pipe by the same distance relative to the hexagonal pipe, further, the lengths of the sleeve and the transverse pipe in the transmission mechanism can be adjusted by the positioning mechanism to adjust the position of the shell in the pipeline, the rotation angle of the transverse pipe is limited by the adjusting mechanism, so that the shell can be driven to move in the pipeline by the transmission mechanism, and the inclination angles of the two transmission mechanisms can be adjusted by the fixing mechanism to enable the transmission mechanism to support the shell to different heights, and then can improve the obstacle crossing performance of the pipeline inspection robot.
3. The pipeline inspection robot is provided with the adjusting mechanism, the transverse pipe, the sleeve pipe and the shell can swing by utilizing the second motor, the transmission shaft, the worm and the worm gear, the roller wheels arranged on the shell also swing relatively when the shell swings, and the included angle between the swung roller wheels and the horizontal plane of the inner diameter of the pipeline is changed, so that the route of the roller wheels driving through the inner wall of the pipeline is changed along with the change of the included angle, the pipeline inspection robot can travel in a spiral path in the pipeline, the body posture of the pipeline inspection robot in the pipeline can be changed, the obstacle crossing of the pipeline inspection robot is facilitated, and the body posture of the pipeline inspection robot when the pipeline travels can be adjusted.
Drawings
Fig. 1 is a schematic structural view of a quick inspection robot for an ultra-long distance water pipeline according to the present invention;
fig. 2 is a cross-sectional view of a shell in the ultra-long distance water pipeline rapid inspection robot provided by the invention;
fig. 3 is a schematic structural diagram of a transmission mechanism in the ultra-long distance water pipeline rapid inspection robot provided by the invention;
fig. 4 is a schematic diagram of the internal structure of a casing and a transverse pipe in the ultra-long distance water pipeline rapid inspection robot provided by the invention;
fig. 5 is a schematic partial structural view of an adjusting mechanism in the quick inspection robot for the ultra-long distance water pipeline according to the present invention;
fig. 6 is a schematic structural diagram of a positioning mechanism in the quick inspection robot for the ultra-long distance water pipeline, which is provided by the invention;
fig. 7 is a schematic structural diagram of a shell in the rapid inspection robot for the ultra-long distance water pipeline according to the invention;
fig. 8 is a first use effect diagram of the quick inspection robot for the ultra-long distance water pipeline, provided by the invention;
fig. 9 is a second usage effect diagram of the rapid inspection robot for the ultra-long distance water pipeline provided by the invention;
fig. 10 is a third use effect diagram of the quick inspection robot for the ultra-long distance water pipeline provided by the invention;
fig. 11 is a fourth usage effect diagram of the quick inspection robot for the ultra-long distance water pipeline provided by the invention;
fig. 12 is a fifth use effect diagram of the quick inspection robot for the ultra-long distance water pipeline, provided by the invention;
in the figure: 1. a housing; 2. a detector body; 3. a sleeve; 4. a housing; 5. a roller; 6. positioning a rod; 7. a bidirectional screw rod; 8. a pull rod; 9. a connecting plate; 10. a second motor; 11. a first bevel gear; 12. a transverse plate; 13. a transmission block; 14. a partition plate; 15. a horizontal axis; 16. a drive shaft; 17. a transverse tube; 18. a first motor; 19. a third bevel gear; 20. a connecting shaft; 21. a hexagonal tube; 22. a hexagonal shaft; 23. a fixing plate; 24. a worm gear; 25. a rotating shaft; 26. a limiting block; 27. a fourth bevel gear; 28. a ring block; 29. a worm; 30. a connecting rod; 31. a first gear; 32. a second gear; 33. a notch; 34. a strip-shaped hole; 35. a second bevel gear; 36. a third motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
referring to the attached drawings 1-12, a quick inspection robot for an ultra-long distance water pipeline comprises a shell 1 and an inspection apparatus body 2, wherein the inspection apparatus body 2 is fixed at the upper end of the shell 1, notches 33 are respectively arranged at the two side corners of the lower end of the shell 1, transmission mechanisms are respectively arranged in the two notches 33 and used for supporting and driving the shell 1, the position of the shell 1 in the pipeline can be changed, the obstacle crossing performance of the inspection robot is improved, a transverse plate 12 is fixedly connected with the shell 1, two adjusting mechanisms are respectively arranged below the transverse plate 12 and connected with the two transmission mechanisms, the adjusting mechanisms can change the travelling track and the posture of the shell 1 in the pipeline, a partition plate 14 is fixedly connected with one end of the transverse plate 12, the partition plate 14 is fixedly connected with the inner wall of the shell 1, a transverse shaft 15 is rotatably connected between one side of the partition plate 14 and the inner wall of the shell 1 through a first ball bearing, two first bevel gears 11 are fixedly connected to the shaft wall of the transverse shaft 15, two transmission mechanisms are symmetrically connected to two sides of the first bevel gears 11, one side of the partition plate 14 is fixedly connected with a first motor 18, the output end of the first motor 18 penetrates through a first rolling bearing and is fixedly connected with one end of the transverse shaft 15, the lower end of the partition plate 14 is connected with a positioning mechanism, the positioning mechanism is connected with two positioning rods 6, the two positioning rods 6 are respectively connected with the transmission mechanisms in the two gaps 33, the positioning mechanism comprises a bidirectional screw rod 7, two transmission blocks 13 are arranged on the rod wall of the bidirectional screw rod 7, the two transmission blocks 13 are both in threaded connection with the rod wall of the bidirectional screw rod 7 through threaded holes, one end of each transmission block 13 is in contact with the side wall of the transverse plate 12, the other end of each transmission block 13 is rotatably connected with a pull rod 8 through a pin, one end of each pull rod 8, which is far away from the transmission blocks 13, is rotatably connected with the rod wall of each positioning rod 6 through a pin shaft, two ends of the bidirectional screw rod 7 are rotatably connected with the inner wall of the shell 1 through second ball bearings, a first gear 31 is fixedly connected to the rod wall of the bidirectional screw rod 7, a second gear 32 is meshed with one side of the first gear 31, a third motor 36 is fixedly connected to the lower end of the transverse plate 12, and the output end of the third motor 36 is fixedly connected with one side of the second gear 32;
in the prior art, a laser displacement sensing device, an image pickup device and a large-capacity storage battery are arranged in the body of a robot, the image pickup device is a detector body 2 and consists of two groups of cameras, a group of LED light sources, a group of laser transmitters and connecting wires, when the pipeline robot is inspected, the arranged LED lamps provide light sources, the two groups of cameras are used for picking up images in the pipeline to realize the inspection on the interior of the pipeline, in the detection process, a laser sensor is used for testing a distance result in real time, a signal processor is used for judging and comparing a set distance threshold value, when the distance is smaller than the threshold value, a rotating motor rotates reversely, the pipeline robot stops the inspection and withdraws from the pipeline to ensure the recovery of the robot, in addition, components such as a configured power supply, a main controller, a signal transmission device, a signal receiving device and the like are all fixed in a space above a transverse plate 12 in a shell 1, the corresponding components are connected through wires to work, and the technology is widely used in life and known by the technical personnel in the field, so that the technology is not described in detail.
When the pipeline inspection robot is used, the third motor 36 is started to drive the second gear 32 to rotate, the second gear 32 rotates to drive the first gear 31 to rotate the two-way screw rod 7, the two-way screw rod 7 rotates to drive the two transmission blocks 13 to move relatively, the pull rod 8 is pushed to stress the positioning rod 6 when the transmission blocks 13 move, the two transmission mechanisms are driven to swing when the positioning rod 6 is stressed, the two transmission mechanisms after swinging are contacted with the inner wall of a pipeline, then the first motor 18 is started to drive the transverse shaft 15 to rotate, the transverse shaft 15 drives the first bevel gear 11 to rotate, the first bevel gear 11 rotates to drive the two transmission mechanisms to work, therefore, the pipeline inspection robot can be driven to walk in the pipeline by utilizing the two transmission mechanisms to work, when the robot walks, the angle of the transmission mechanisms can be adjusted by utilizing the adjusting mechanism, and further the advancing route and the body posture of the robot in the pipeline can be changed, the obstacle crossing performance of the robot is effectively improved by changing the posture and the advancing route of the robot in the pipeline to avoid obstacles and damaged sections of the pipeline.
Example 2: the difference is based on example 1;
referring to the attached drawings 2-5, the transmission mechanism comprises a fixing plate 23, connecting rods 30 are fixedly connected to two opposite sides of the fixing plate 23, an annular block 28 is fixedly connected to one ends of the two connecting rods 30, the inner side of the annular block 28 is rotatably connected to the shaft wall of the transverse shaft 15 through a second ball bearing, the side wall of the fixing plate 23 is rotatably connected to a transverse pipe 17 through a third ball bearing, a sleeve 3 is sleeved on the pipe wall of the transverse pipe 17, a connecting plate 9 is rotatably connected to the pipe wall of the sleeve 3 through a fourth ball bearing, the connecting plate 9 is fixedly connected to one end of the positioning rod 6, one end of the sleeve 3 is fixedly connected to a shell 4, a rotating shaft is rotatably connected to the shell 4 through a sealing bearing, a roller 5 is fixedly connected to the lower end of the rotating shaft, telescopic mechanisms are arranged in the transverse pipe 17 and the sleeve 3, the telescopic machine is connected with a first bevel gear 11 and the rotating shaft, and comprises a rotating shaft 25 and a connecting shaft 20, rotation axis 25 and connecting axle 20 all rotate with the inner wall of violently managing 17 and sleeve pipe 3 respectively through first antifriction bearing and are connected, the one end of rotation axis 25 extends to violently managing 17 outside and fixedly connected with second bevel gear 35, second bevel gear 35 and the meshing of first bevel gear 11, the other end fixedly connected with hexagonal axle 22 of rotation axis 25, hexagonal pipe 21 has been cup jointed on the axle wall of hexagonal axle 22, the one end of connecting axle 20 and the one end fixed connection of hexagonal pipe 21, the other end of connecting axle 20 runs through the lateral wall of shell 4 and fixedly connected with third bevel gear 19, the meshing of one side of third bevel gear 19 has fourth bevel gear 27, the one side of fourth bevel gear 27 and the upper end fixed connection of pivot, bar hole 34 has been seted up on the pipe wall of sleeve pipe 3, be equipped with stopper 26 in the bar hole 34, the one end of stopper 26 extends to in the sleeve pipe 3 and with violently manage 17's pipe wall fixed connection, the pipe wall of violently managing 17 is connected with adjustment mechanism.
According to the transmission mechanism provided by the invention, when the first bevel gear 11 rotates to drive the second bevel gear 35 to rotate, the second bevel gear 35 rotates to drive the rotating shaft 25 to rotate the hexagonal shaft 22, the hexagonal shaft 22 rotates to drive the hexagonal pipe 21 to rotate the connecting shaft 20, the connecting shaft 20 rotates to drive the third bevel gear 19 to rotate the fourth bevel gear 27, the fourth bevel gear 27 rotates to drive the rotating shaft to rotate the roller 5, friction force is generated between the roller 5 and the pipeline wall when the roller 5 rotates, so that the driving shell 1 travels in the pipeline, because the connecting plate 9 is rotatably connected with the pipe wall of the sleeve 3 through the fourth ball bearing, the sleeve 3 is pushed to slide on the pipe wall of the transverse pipe 17 to realize extension and retraction when the positioning rod 6 is stressed, the extension and retraction distance is limited by the strip-shaped hole 34 and the limiting block 26, and the hexagonal shaft 22 also slides and retracts at the same distance relatively in the hexagonal pipe 21, so that the length of the sleeve 3 and the transverse pipe 17 in the transmission mechanism can be adjusted by the positioning mechanism, the position of the adjusting shell 1 in the pipeline is achieved, the rotation angle of the transverse pipe 17 is limited by the adjusting mechanism, the transmission mechanism can be used for driving the shell 1 to walk in the pipeline, the fixing mechanism can also be used for adjusting the inclination angles of the two transmission mechanisms, the transmission mechanism can support the shell 1 to different heights, and the obstacle crossing performance of the pipeline inspection robot can be improved.
Example 3: the difference is based on example 1;
referring to fig. 2, 3 and 5, the adjusting mechanism includes a transmission shaft 16, a plurality of bearing seats are connected to a shaft wall of the transmission shaft 16, the bearing seats are fixedly connected to a rod wall of a connection rod 30, one side of one of the bearing seats is fixedly connected to a second motor 10, an output end of the second motor 10 is fixedly connected to one end of the transmission shaft 16, two worms 29 are fixedly connected to the shaft wall of the transmission shaft 16, worm wheels 24 are engaged with rod walls of the two worms 29, and the worm wheels 24 are fixedly connected to a tube wall of the transverse tube 17.
The invention is provided with an adjusting mechanism, when a second motor 10 is started to drive a transmission shaft 16 to rotate, the transmission shaft 16 rotates to drive a worm 29 to rotate a worm wheel 24, the worm wheel 24 rotates to drive a transverse pipe 17 to rotate, the transverse pipe 17 rotates to drive a sleeve 3 to rotate by utilizing the matching of a limiting block 26 and a strip-shaped hole 34, the sleeve 3 rotates to drive a shell 4 to swing, the shell 4 swings to drive a rotating shaft to make a fourth bevel gear 27 roll around a third bevel gear 19, at the moment, a roller 5 on the rotating shaft swings relatively, and an included angle between the swinging roller 5 and a horizontal plane of the inner diameter of the pipeline is changed, so that when the transmission mechanism drives the roller 5 to rotate, the route of the roller 5 running through the inner wall of the pipeline is changed, the pipeline inspection robot can run on a spiral route in the pipeline, and further the posture of the pipeline inspection robot in the pipeline can be changed, the obstacle-crossing of the pipeline robot is facilitated, and the body posture of the pipeline inspection robot when the pipeline travels can be adjusted.
It is to be noted that the term "comprises," "comprising," or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides a robot is patrolled and examined fast to super long distance conduit, includes casing (1) and detector body (2), and the upper end at casing (1) is fixed in detector body (2), its characterized in that: notches (33) are formed in the corners of two sides of the lower end of the shell (1), transmission mechanisms are arranged in the two notches (33), the shell (1) is fixedly connected with a transverse plate (12), two adjusting mechanisms are arranged below the transverse plate (12), and the two adjusting mechanisms are respectively connected with the two transmission mechanisms;
the transmission mechanism is arranged in the two gaps (33) and used for supporting and driving the shell (1) so that the height of the shell (1) in the pipeline can be adjusted;
the adjusting mechanism can change the travel track and the posture of the shell (1) in the pipeline.
2. The quick inspection robot for the ultra-long distance water pipelines according to claim 1, is characterized in that: one end of the transverse plate (12) is fixedly connected with a clapboard (14), the clapboard (14) is fixedly connected with the inner wall of the shell (1), a transverse shaft (15) is rotatably connected between one side of the clapboard (14) and the inner wall of the shell (1) through a first ball bearing, two first bevel gears (11) are fixedly connected to the shaft wall of the transverse shaft (15), the two transmission mechanisms are symmetrically connected to two sides of the first bevel gears (11), one side of the clapboard (14) is fixedly connected with a first motor (18), the output end of the first motor (18) passes through a first rolling bearing and is fixedly connected with one end of a transverse shaft (15), the lower extreme of baffle (14) is connected with positioning mechanism, positioning mechanism is connected with two locating levers (6), two locating lever (6) are connected with the drive mechanism in two breach (33) respectively.
3. The quick inspection robot for the ultra-long distance water pipelines according to claim 2, is characterized in that: the transmission mechanism comprises a fixing plate (23), connecting rods (30) are fixedly connected to two opposite sides of the fixing plate (23), an annular block (28) is fixedly connected to one end of each of the two connecting rods (30), the inner side of the annular block (28) is rotatably connected with the shaft wall of a transverse shaft (15) through a second ball bearing, a transverse pipe (17) is rotatably connected to the side wall of the fixing plate (23) through a third ball bearing, a sleeve pipe (3) is sleeved on the pipe wall of the transverse pipe (17), a connecting plate (9) is rotatably connected to the pipe wall of the sleeve pipe (3) through a fourth ball bearing, the connecting plate (9) is fixedly connected with one end of a positioning rod (6), a shell (4) is fixedly connected to one end of the sleeve pipe (3), a rotating shaft is rotatably connected to the shell (4) through a sealing bearing, and rollers (5) are fixedly connected to the lower end of the rotating shaft, telescopic mechanisms are arranged in the transverse pipe (17) and the sleeve (3), the telescopic mechanism is connected with the first bevel gear (11) and the rotating shaft, and the pipe wall of the transverse pipe (17) is connected with the adjusting mechanism.
4. The quick inspection robot for the ultra-long distance water pipelines according to claim 3, wherein the quick inspection robot comprises: the telescopic mechanism comprises a rotating shaft (25) and a connecting shaft (20), the rotating shaft (25) and the connecting shaft (20) are respectively rotatably connected with the inner walls of the transverse pipe (17) and the sleeve (3) through a first rolling bearing, one end of the rotating shaft (25) extends out of the transverse pipe (17) and is fixedly connected with a second bevel gear (35), the second bevel gear (35) is meshed with the first bevel gear (11), the other end of the rotating shaft (25) is fixedly connected with a hexagonal shaft (22), the shaft wall of the hexagonal shaft (22) is sleeved with a hexagonal pipe (21), one end of the connecting shaft (20) is fixedly connected with one end of the hexagonal pipe (21), the other end of the connecting shaft (20) penetrates through the side wall of the shell (4) and is fixedly connected with a third bevel gear (19), and one side of the third bevel gear (19) is meshed with a fourth bevel gear (27), one side of the fourth bevel gear (27) is fixedly connected with the upper end of the rotating shaft, a strip-shaped hole (34) is formed in the pipe wall of the sleeve (3), a limiting block (26) is arranged in the strip-shaped hole (34), and one end of the limiting block (26) extends into the sleeve (3) and is fixedly connected with the pipe wall of the transverse pipe (17).
5. The quick inspection robot for the ultra-long distance water pipelines according to claim 3, wherein the quick inspection robot comprises: adjustment mechanism includes transmission shaft (16), be connected with a plurality of bearing frames on the axle wall of transmission shaft (16), and the pole wall fixed connection of bearing frame and connecting rod (30), one of them one side fixedly connected with second motor (10) of bearing frame, the output of second motor (10) and the one end fixed connection of transmission shaft (16), two worms (29) of fixedly connected with on the axle wall of transmission shaft (16), two all meshed worm wheel (24) on the pole wall of worm (29), the pipe wall fixed connection of worm wheel (24) and violently pipe (17).
6. The quick inspection robot for the ultra-long distance water pipelines according to claim 2, is characterized in that: the positioning mechanism comprises a bidirectional screw rod (7), two transmission blocks (13) are arranged on the rod wall of the bidirectional screw rod (7), the two transmission blocks (13) are in threaded connection with the rod wall of the bidirectional screw rod (7) through threaded holes, one end of each transmission block (13) is in contact with the side wall of a transverse plate (12), the other end of each transmission block (13) is connected with a pull rod (8) through pin rotation, one end, away from the transmission blocks (13), of each pull rod (8) is in rotational connection with the rod wall of a positioning rod (6) through a pin shaft, the two ends of the bidirectional screw rod (7) are in rotational connection with the inner wall of a shell (1) through second ball bearings, a first gear (31) is fixedly connected to the rod wall of the bidirectional screw rod (7), a second gear (32) is meshed to one side of the first gear (31), and a third motor (36) is fixedly connected to the lower end of the transverse plate (12), the output end of the third motor (36) is fixedly connected with one side of the second gear (32).
CN202210078458.3A 2022-01-24 2022-01-24 Quick inspection robot for ultra-long distance water conveying pipeline Active CN114396530B (en)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4702331A (en) * 1985-05-28 1987-10-27 Mitsubishi Denki Kabushiki Kaisha Self-traveling machine
CN1544211A (en) * 2003-11-11 2004-11-10 东华大学 Running gear of height-adjustable independent displacement crawler type pipeline robot
KR101400380B1 (en) * 2013-10-29 2014-05-27 (주)로터스지이오 A uv generator for repairing pipe using reverse type and method for repairing pipe using the same
CN107435783A (en) * 2017-08-18 2017-12-05 寿浙涛 A kind of pipe robot for conveniently adapting to different pipelines
CN214703375U (en) * 2021-04-24 2021-11-12 四川兢业建设工程有限公司 Urban underground sewage pipeline detection device
CN113829319A (en) * 2021-11-02 2021-12-24 安徽海马特救援科技有限公司 Modular robot

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4702331A (en) * 1985-05-28 1987-10-27 Mitsubishi Denki Kabushiki Kaisha Self-traveling machine
CN1544211A (en) * 2003-11-11 2004-11-10 东华大学 Running gear of height-adjustable independent displacement crawler type pipeline robot
KR101400380B1 (en) * 2013-10-29 2014-05-27 (주)로터스지이오 A uv generator for repairing pipe using reverse type and method for repairing pipe using the same
CN107435783A (en) * 2017-08-18 2017-12-05 寿浙涛 A kind of pipe robot for conveniently adapting to different pipelines
CN214703375U (en) * 2021-04-24 2021-11-12 四川兢业建设工程有限公司 Urban underground sewage pipeline detection device
CN113829319A (en) * 2021-11-02 2021-12-24 安徽海马特救援科技有限公司 Modular robot

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