CN114396530B - Quick inspection robot for ultra-long distance water conveying pipeline - Google Patents
Quick inspection robot for ultra-long distance water conveying pipeline Download PDFInfo
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- CN114396530B CN114396530B CN202210078458.3A CN202210078458A CN114396530B CN 114396530 B CN114396530 B CN 114396530B CN 202210078458 A CN202210078458 A CN 202210078458A CN 114396530 B CN114396530 B CN 114396530B
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- fixedly connected
- wall
- shaft
- pipeline
- shell
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Classifications
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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
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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
- F16L55/40—Constructional aspects of the body
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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
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
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 corners of 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 and 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 overlength distance conduit can adjust route of travel and fuselage gesture in the pipeline, makes the robot can cross the damage of barrier in the pipeline and pipeline fast, has improved pipeline robot's obstacle crossing performance strong to after deep into the pipeline, also can not lead to the unable safe recovery of robot because of losing the drive power.
Description
Technical Field
The invention relates to the technical field of pipeline detection, in particular to a rapid inspection robot for an ultra-long distance water pipeline.
Background
Because of uneven distribution of water resources in China, how to reasonably allocate the water resources and efficiently utilize the water resources has become a national strategic problem, and ultra-long-distance water delivery pipelines are used as a quick and efficient water delivery mode and are promoted and applied in a large amount in China, however, in the construction process of the water delivery pipelines, the pipelines generate bulges, cracks and the like due to the production quality problems of the pipelines and the non-standardization of construction. And in the later operation process, due to the effects of water hammer, corrosion, high-speed sand-containing water flow and the like, the inside of the pipeline is damaged, and if the pipeline defect cannot be overhauled timely, the paralysis of a water supply system is easily caused. Therefore, the pipeline quality inspection is required in the construction process and the later-period regular maintenance process, and the safe operation of the water delivery engineering is ensured.
At present, the water transmission and transfer engineering in China generally reaches hundreds of kilometers, the water pipe section also has tens of kilometers or hundreds of kilometers, so that pipeline robots are adopted for detection, the pipeline robots are all loaded with closed-circuit television detection systems (CCTV), image information returned into the pipeline in real time through cameras is evaluated on the quality of the pipeline, so that whether the pipeline has defects or not is judged, the existing pipeline maintenance robot adopts a multi-point supporting mode, namely, a body shell of the robot is used as a circle center, a plurality of supporting arms which synchronously stretch and retract are designed as supporting points, the body shell is supported at the center of the pipeline after the supporting points synchronously stretch and retract, and therefore the pipeline maintenance robot has a self-centering effect in the pipeline and is suitable for being used for water pipes with different diameters.
At present, although the robot can be suitable for different pipelines, because the support arm supports the fuselage shell at the center of the pipeline, once encountering a broken water delivery pipeline section, the driving wheel of the robot cannot be in close contact with the pipeline wall, so that the pipeline inspection robot also loses driving force and is trapped in the pipeline, and because of the limitation of the structure of the robot, the robot penetrating into the pipeline cannot adjust the travelling route and the posture of the fuselage in the pipeline, so that the obstacle crossing performance of the robot is poor, and therefore, the pipeline which is broken or blocked cannot be continuously detected and overhauled.
Disclosure of Invention
(one) solving the technical problems
Aiming at the defects of the prior art, the invention provides the quick inspection robot for the ultra-long-distance water conveying pipeline, which has the advantages that the obstacle crossing performance is strong, the advancing route and the body gesture can be adjusted in the pipeline, the robot can quickly cross the obstacle in the pipeline and the damaged part of the pipeline, the robot cannot safely recover due to the loss of driving force after going deep into the pipeline, and the like, and the problems that the traditional robot encounters a damaged water conveying pipeline section, the driving wheel of the robot cannot be tightly contacted with the pipeline wall, the pipeline inspection robot also loses the driving force and is trapped in the pipeline due to the fact that the driving force of the robot is lost, and the obstacle crossing performance is poor due to the limitation of the self structure of the robot, so that the damage or the blocked pipeline cannot be continuously detected and inspected are solved.
(II) technical scheme
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides a quick inspection robot of overlength distance water pipe, includes casing and detector body, and the detector body is fixed in the upper end of casing, the breach has all been seted up to the lower extreme both sides corner of casing, two all be equipped with drive mechanism in the breach, casing fixedly connected with diaphragm, the below of diaphragm is equipped with two guiding mechanism, two guiding mechanism links to each other with two drive mechanism respectively;
the transmission mechanism is 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 advancing track and the gesture of the shell in the pipeline.
Preferably, one end fixedly connected with baffle of diaphragm, baffle and the inner wall fixed connection of casing, be connected with the cross axle through first ball bearing rotation between one side of baffle and the inner wall of casing, fixedly connected with two first bevel gears on the axial wall of cross axle, two drive mechanism symmetrical connection is in the both sides of first bevel gear, one side fixedly connected with first motor of baffle, the output of first motor passes first antifriction bearing and with the one end fixed connection of cross axle, the lower extreme of baffle is connected with positioning mechanism, positioning mechanism is connected with two locating levers, two the locating lever is connected with the drive mechanism in two breach respectively.
Preferably, the transmission mechanism comprises a fixed plate, the equal fixedly connected with connecting rod in both sides that the fixed plate is relative, two the equal fixedly connected with annular piece of one end of connecting rod, the inboard of annular piece is rotated with the axial wall of cross axle through second ball bearing and is connected, the lateral wall of fixed plate is rotated through third ball bearing and is connected with horizontal pipe, the sleeve pipe has been cup jointed on the pipe wall of horizontal pipe, be connected with the connecting plate through fourth ball bearing rotation on the sheathed tube pipe wall, the one end fixedly connected with shell of connecting plate and locating lever, be connected with the pivot through sealing bearing rotation in the shell, the lower extreme fixedly connected with gyro wheel of pivot, horizontal pipe and intraductal telescopic machanism that is equipped with of sleeve, first bevel gear and pivot are connected to the telescopic machanism, the pipe wall and the guiding mechanism of horizontal pipe are connected.
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 tube and the sleeve through first rolling bearings, one end of the rotating shaft extends out of the transverse tube and is fixedly connected with a second bevel gear, the second bevel gear is meshed with the first bevel gear, the other end of the rotating shaft is fixedly connected with a six-edge shaft, the six-edge tube is sleeved on the shaft wall of the six-edge shaft, one end of the connecting shaft is fixedly connected with one end of the six-edge 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 meshed 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 tube wall of the sleeve, and one end of the limiting block extends into the sleeve and is fixedly connected with the tube wall of the transverse tube.
Preferably, the adjusting mechanism comprises a transmission shaft, a plurality of bearing seats are connected to the shaft wall of the transmission shaft, the bearing seats are fixedly connected with the rod wall of the connecting rod, one of the bearing seats is fixedly connected with a second motor, the output end of the second motor is fixedly connected with one end of the transmission shaft, two worms are fixedly connected to the shaft wall of the transmission shaft, worm wheels are meshed with the rod walls of the two worms, and the worm wheels are fixedly connected with the pipe wall of the transverse pipe.
Preferably, the positioning mechanism comprises a bidirectional screw rod, two transmission blocks are arranged on the rod wall of the bidirectional screw rod, the two transmission blocks are in threaded connection with the rod wall of the bidirectional screw rod through threaded holes, one end of each transmission block is in contact with the side wall of the transverse plate, the other end of each transmission block is connected with a pull rod through a pin in a rotating mode, one end, far away from the transmission block, of each pull rod is in rotary connection with the rod wall of the positioning rod through a pin shaft, two ends of the bidirectional screw rod are in rotary connection with the inner wall of the shell through second ball bearings, a first gear is fixedly connected on the rod wall of the bidirectional screw rod, one side of the first gear is meshed with a second gear, the lower end of the transverse plate is fixedly connected with a third motor, and the output end of the third motor is fixedly connected with one side of the second gear.
(III) beneficial effects
Compared with the prior art, the invention provides the rapid inspection robot for the ultra-long-distance water conveying pipeline, which has the following beneficial effects:
1. when the robot walking device 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 and enable the robot to be 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 angle of the transmission mechanism can be adjusted by the adjusting mechanism, the advancing route and the machine body posture of the robot in the pipeline can be changed, the obstacle and the damaged section of the pipeline are avoided by changing the posture and the advancing route of the robot in the pipeline, and the obstacle crossing performance of the robot is effectively improved.
2. The invention provides a transmission mechanism, which utilizes a transmission mechanism consisting of a second bevel gear, a rotating shaft, a six-edge pipe, a connecting shaft, a third bevel gear, a fourth bevel gear and rollers, so that friction force is generated between the rollers and the wall of a pipeline to realize that a driving shell moves in the pipeline, when a positioning rod pushes a connecting plate, a sleeve slides on the wall of a transverse pipe to realize expansion and contraction, and meanwhile, the six-edge shaft slides and stretches for the same distance relative to the sliding of the six-edge pipe, the positioning mechanism is utilized to adjust the lengths of the sleeve and the transverse pipe in the transmission mechanism, the position of the shell in the pipeline is adjusted, the rotation angle of the transverse pipe is limited by an adjusting mechanism, and therefore, the transmission mechanism can be utilized to drive the shell to walk in the pipeline, and the inclination angles of the two transmission mechanisms can also be adjusted by a fixing mechanism, so that the transmission mechanism can support the shell to different heights, and further the obstacle crossing performance of a pipeline inspection robot can be improved.
3. According to the invention, the transverse tube, the sleeve and the shell can swing by using the second motor, the transmission shaft, the worm and the worm gear, the idler wheel arranged on the shell swings relatively when the shell swings, and the included angle between the swinging idler wheel and the horizontal plane of the inner diameter of the pipeline is changed, so that the route of the idler wheel and the idler wheel driving through the inner wall of the pipeline is changed along with the change of the included angle, the pipeline inspection robot can move along a spiral path in the pipeline, the body gesture of the pipeline inspection robot in the pipeline can be changed, obstacle surmounting of the pipeline robot is facilitated, and the body gesture of the pipeline inspection robot in the pipeline moving process can be adjusted.
Drawings
Fig. 1 is a schematic structural diagram of a rapid inspection robot for an ultra-long distance water pipe, which is provided by the invention;
fig. 2 is a cross-sectional view of a shell in the ultra-long distance water pipe rapid inspection robot provided by the invention;
fig. 3 is a schematic structural diagram of a transmission mechanism in a rapid inspection robot for an ultra-long distance water pipe;
fig. 4 is a schematic diagram of the internal structure of a sleeve and a transverse tube in the ultra-long distance water pipe rapid inspection robot;
fig. 5 is a schematic diagram of a part of a structure of an adjusting mechanism in a quick inspection robot for an ultra-long distance water pipe;
fig. 6 is a schematic structural diagram of a positioning mechanism in a quick inspection robot for ultra-long distance water pipes, which is provided by the invention;
fig. 7 is a schematic structural diagram of a housing in a fast inspection robot for ultra-long distance water pipes, which is provided by the invention;
fig. 8 is a first effect diagram of a quick inspection robot for an ultra-long distance water pipe;
fig. 9 is a second effect diagram of the rapid inspection robot for the ultra-long distance water pipe;
fig. 10 is a third effect diagram of a quick inspection robot for an ultra-long distance water pipe according to the present invention;
fig. 11 is a fourth effect diagram of the rapid inspection robot for the ultra-long distance water pipe;
fig. 12 is a fifth effect diagram of the rapid inspection robot for the ultra-long distance water pipe;
in the figure: 1. a housing; 2. a detector body; 3. a sleeve; 4. a housing; 5. a roller; 6. a positioning rod; 7. a two-way screw rod; 8. a pull rod; 9. a connecting plate; 10. a second motor; 11. a first bevel gear; 12. a cross plate; 13. a transmission block; 14. a partition plate; 15. a horizontal axis; 16. a transmission shaft; 17. a transverse tube; 18. a first motor; 19. a third bevel gear; 20. a connecting shaft; 21. a six-edge tube; 22. a hexagonal shaft; 23. a fixing plate; 24. a worm wheel; 25. a rotation shaft; 26. a limiting block; 27. a fourth bevel gear; 28. an annular block; 29. a worm; 30. a connecting rod; 31. a first gear; 32. a second gear; 33. a notch; 34. a bar-shaped hole; 35. a second bevel gear; 36. and a third motor.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1:
referring to fig. 1-12, a quick inspection robot for ultra-long distance water delivery pipelines comprises a shell 1 and a detector body 2, wherein the detector body 2 is fixed at the upper end of the shell 1, two corners of two sides of the lower end of the shell 1 are respectively provided with a notch 33, two notches 33 are internally provided with transmission mechanisms, the transmission mechanisms are arranged in the two notches 33 and used for supporting and driving the shell 1 and can change the position of the shell 1 in the pipeline, the obstacle crossing performance of the inspection robot is improved, the shell 1 is fixedly connected with a diaphragm 12, two adjusting mechanisms are arranged below the diaphragm 12 and are respectively connected with the two transmission mechanisms, the adjusting mechanisms can change the advancing track and the gesture of the shell 1 in the pipeline, one end of the diaphragm 12 is fixedly connected with a baffle 14, the baffle 14 is fixedly connected with the inner wall of the shell 1, one side of the baffle 14 is rotationally connected with a transverse shaft 15 through a first ball bearing, the shaft wall of the transverse shaft 15 is fixedly connected with two first bevel gears 11, 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 passes 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 transmission mechanisms in two notches 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 in threaded connection with the rod wall of the bidirectional screw rod 7 through threaded holes, one end of each transmission block 13 is contacted with the side wall of the transverse plate 12, the other end of each transmission block 13 is rotationally connected with a pull rod 8 through a pin, one end of the pull rod 8 far away from the transmission block 13 is rotationally connected with the rod wall of the positioning rod 6 through a pin shaft, both ends of the bidirectional screw rod 7 are rotationally 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, one side of the first gear 31 is meshed with a second gear 32, the lower end of the transverse plate 12 is fixedly connected with a third motor 36, 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 is configured in a robot body, an image pickup device and a high-capacity storage battery, the image pickup device is a detector body 2, the image pickup device is composed of two groups of cameras, a group of LED light sources, a group of laser transmitters and connected wires, when the pipeline robot is in inspection, the LED light sources are provided by the set LED light sources, the two groups of cameras pick up the internal view of the pipeline, the inside of the pipeline is inspected, in the detection process, the laser sensor is used for testing the distance result in real time, the signal processor is used for judging, the set distance threshold is compared, after the distance is smaller than the threshold, a rotating motor reversely rotates, the pipeline robot stops inspection, and exits from the pipeline, so that the recovery of the robot is ensured, in addition, the configured power supply, the main controller, the signal transmission device, the signal receiving device and other components are all fixed in the space above a transverse plate 12 in the shell 1, and the corresponding components are connected through the wires to work.
When the invention 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 enable the bidirectional screw rod 7 to rotate, the bidirectional screw rod 7 rotates to drive the two transmission blocks 13 to relatively move, the pull rod 8 is pushed to enable the positioning rod 6 to bear force when the transmission blocks 13 move, the two transmission mechanisms are driven to swing when the positioning rod 6 bears force, 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 is driven to drive the first bevel gear 11 to rotate, and the first bevel gear 11 rotates to drive the two transmission mechanisms to work, so that the pipeline inspection robot can be driven to walk in the pipeline by utilizing the two transmission mechanisms to work, the angle of the transmission mechanisms can be adjusted by utilizing the adjusting mechanism when the robot walks, the travelling route and the body gesture of the robot in the pipeline can be changed, and obstacles and pipeline breakage sections can be avoided by changing the gesture and travelling route of the robot in the pipeline, and the obstacle crossing performance of the robot is effectively improved.
Example 2: the difference is based on example 1;
referring to fig. 2-5, the transmission mechanism comprises a fixed plate 23, connecting rods 30 are fixedly connected to opposite sides of the fixed plate 23, annular blocks 28 are fixedly connected to one ends of the two connecting rods 30, the inner side of each annular block 28 is rotatably connected with the shaft wall of a transverse shaft 15 through a second ball bearing, the side wall of the fixed plate 23 is rotatably connected with a transverse tube 17 through a third ball bearing, a sleeve 3 is sleeved on the wall of the transverse tube 17, a connecting plate 9 is rotatably connected to the wall of the sleeve 3 through a fourth ball bearing, the connecting plate 9 is fixedly connected with one end of a positioning rod 6, one end of the sleeve 3 is fixedly connected with a housing 4, a rotating shaft is rotatably connected in the housing 4 through a sealing bearing, a roller 5 is fixedly connected to the lower end of the rotating shaft, a telescopic mechanism is arranged in the transverse tube 17 and the sleeve 3, the telescopic mechanism is connected with a first bevel gear 11 and the rotating shaft and comprises a rotating shaft 25 and a connecting shaft 20, the rotating shaft 25 and the connecting shaft 20 are respectively and rotatably connected with the transverse tube 17 and the inner wall of the sleeve 3 through first rolling bearings, one end of the rotating shaft 25 extends out of the transverse tube 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, a hexagonal tube 21 is sleeved on the shaft wall of the hexagonal shaft 22, one end of the connecting shaft 20 is fixedly connected with one end of the hexagonal tube 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, 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 wall of the sleeve 3, one end of the limiting block 26 extends into the sleeve 3 and is fixedly connected with the wall of the transverse tube 17, the tube wall of the transverse tube 17 is connected with an adjusting mechanism.
According to the invention, the transmission mechanism is arranged, 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 enable the six-edge shaft 22 to rotate, the six-edge shaft 22 rotates to drive the six-edge pipe 21 to enable the connecting shaft 20 to rotate, the connecting shaft 20 rotates to drive the third bevel gear 19 to enable the fourth bevel gear 27 to rotate, the fourth bevel gear 27 rotates to drive the rotating shaft to enable the idler wheel 5 to rotate, friction force is generated between the idler wheel 5 and the pipeline wall when the idler wheel 5 rotates, and further the driving shell 1 moves in the pipeline.
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, and the bearing seats are fixedly connected to a shaft wall of a connecting rod 30, one side of one bearing seat 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 gears 24 are engaged to the shaft walls of the two worms 29, and the worm gears 24 are fixedly connected to a pipe wall of a transverse pipe 17.
According to the invention, the second motor 10 is started to drive the transmission shaft 16 to rotate, the transmission shaft 16 rotates to drive the worm 29 to rotate the worm wheel 24, the worm wheel 24 rotates to drive the transverse tube 17 to rotate, the sleeve 3 is driven to rotate by the cooperation of the limiting block 26 and the strip-shaped hole 34 when the transverse tube 17 rotates, the sleeve 3 rotates to drive the shell 4 to swing, the rotating shaft is driven to enable the fourth bevel gear 27 to roll around the third bevel gear 19 when the shell 4 swings, at the moment, the idler wheel 5 on the rotating shaft swings relatively, and the included angle between the swinging idler wheel 5 and the horizontal plane of the pipeline changes, so that when the transmission mechanism drives the idler wheel 5 to rotate, the included angle between the idler wheel 5 and the horizontal plane of the pipeline changes, the route of the idler wheel 5 driving the inner wall of the pipeline also changes, the pipeline inspection robot can travel in the pipeline inner-path spiral path, the body posture of the pipeline inspection robot in the pipeline can be changed, obstacle surmounting of the pipeline robot can be facilitated, and the body posture of the pipeline inspection robot can also be adjusted when the pipeline travels in the pipeline.
It should 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 one … …" does not exclude the presence of other like 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 understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (1)
1. The utility model provides a robot is patrolled and examined fast to overlength distance water pipeline, includes casing (1) and detector body (2), and detector body (2) are fixed in the upper end of casing (1), its characterized in that: gaps (33) are formed in corners of two sides of the lower end of the shell (1), transmission mechanisms are arranged in the two gaps (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 device comprises an adjusting mechanism, wherein the advancing track and the posture of a shell (1) in a pipeline can be changed, the adjusting mechanism comprises a transmission shaft (16), a plurality of bearing seats are connected to the shaft wall of the transmission shaft (16), the bearing seats are fixedly connected with the rod wall of a connecting rod (30), one side of each bearing seat is fixedly connected with a second motor (10), the output end of each second motor (10) is fixedly connected with one end of the transmission shaft (16), two worms (29) are fixedly connected to the shaft wall of the transmission shaft (16), worm gears (24) are meshed to the rod walls of the two worms (29), and the worm gears (24) are fixedly connected with the pipe wall of a transverse pipe (17);
the transmission mechanism is arranged in the two notches (33) and used for supporting and driving the shell (1), so that the height of the shell (1) in a pipeline is adjusted, the transmission mechanism comprises a fixed plate (23), connecting rods (30) are fixedly connected to two opposite sides of the fixed plate (23), annular blocks (28) are fixedly connected to one ends of the connecting rods (30), the inner sides of the annular blocks (28) are rotatably connected with the shaft wall of a transverse shaft (15) through second ball bearings, the side wall of the fixed plate (23) is rotatably connected with a transverse pipe (17) through third ball bearings, 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 fourth ball bearings, one ends of the connecting plates (9) are fixedly connected with a shell (4), a rotating shaft is rotatably connected to one end of the shell (4) through sealing bearings, the lower end of the rotating shaft is fixedly connected with a roller (5), and the sleeve (17) and the inner side wall of the sleeve (17) are rotatably connected with a bevel gear (11);
the telescopic mechanism comprises a rotating shaft (25) and a connecting shaft (20), wherein the rotating shaft (25) and the connecting shaft (20) are respectively and rotatably connected with the inner wall of a transverse tube (17) and the inner wall of a sleeve (3) through first rolling bearings, one end of the rotating shaft (25) extends out of the transverse tube (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 tube (22), a hexagonal tube (21) is sleeved on the shaft wall of the hexagonal tube (22), one end of the connecting shaft (20) is fixedly connected with one end of the hexagonal tube (21), the other end of the connecting shaft (20) penetrates through the side wall of a shell (4) and is fixedly connected with a third bevel gear (19), 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 hole (34) is formed in the tube wall of the sleeve (3), one end of the limiting block (34) is fixedly connected with one end of the transverse tube (17), and the other end of the limiting block (34) is fixedly connected with the transverse tube (17);
one end of the diaphragm (12) is fixedly connected with a baffle (14), the baffle (14) is fixedly connected with the inner wall of the shell (1), a transverse shaft (15) is rotatably connected between one side of the baffle (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 baffle (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 the transverse shaft (15), and the lower end of the baffle (14) is connected with a positioning mechanism which is connected with two positioning rods (6);
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, far away from each transmission block (13), of each pull rod (8) is in rotary connection with the rod wall of a positioning rod (6) through a pin shaft, two ends of the bidirectional screw rod (7) are all in rotary connection with the inner wall of a shell (1) through second ball bearings, a first gear (31) is fixedly connected on the rod wall of the bidirectional screw rod (7), one side of each first gear (31) is meshed with a second gear (32), the lower end of each transverse plate (12) is fixedly connected with a third motor (36), the output end of each third motor (36) is fixedly connected with one side of each second gear (32), and two positioning rods (6) are respectively connected with two notches in the two positioning mechanisms (33).
Priority Applications (1)
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| CN202210078458.3A CN114396530B (en) | 2022-01-24 | 2022-01-24 | Quick inspection robot for ultra-long distance water conveying pipeline |
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| CN202210078458.3A CN114396530B (en) | 2022-01-24 | 2022-01-24 | Quick inspection robot for ultra-long distance water conveying pipeline |
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| CN114396530B true CN114396530B (en) | 2023-08-22 |
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|---|---|---|---|---|
| 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 |
-
2022
- 2022-01-24 CN CN202210078458.3A patent/CN114396530B/en active Active
Patent Citations (6)
| 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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| Publication number | Publication date |
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| CN114396530A (en) | 2022-04-26 |
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