CN114754226A - Pipe network detection robot suitable for different pipe diameters - Google Patents

Abstract

The application discloses including the head device, the head device includes the long banding device body in plane, and the device body left and right sides respectively is equipped with a crawl wheel, and two crawl wheels pass through adjustable coupling assembling and this body coupling of device, and adjustable coupling assembling is used for adjusting the horizontal interval between two crawl wheels. The adjustable structure of two crawl wheel lateral separation's of this application makes the adaptable not pipeline of different pipe diameter sizes of exploration robot, surveys at every turn and need not to dispose different exploration robot according to different pipe diameter sizes, and practicality and flexibility are high, and adjusting method is simple, has solved the suitability problem of exploration robot and pipeline that awaits measuring.

Description

Pipe network detection robot suitable for different pipe diameters

Technical Field

The application relates to the technical field of pipeline detection, in particular to a pipe network detection robot suitable for different pipe diameters.

Background

With the rapid development of the urbanization process in China, more and more underground pipe networks are needed in cities. The underground pipe network is a life line of a city, is a foundation for the city to live and develop and plays an important role in the high-quality development of urban infrastructure. However, the construction level of some urban underground pipe networks in China is relatively lagged at present, and the requirements of economic high-quality development cannot be met, for example, the geographical position of a pipeline needs to be recorded in a certain mode in the pipeline construction process so as to facilitate later maintenance and repair. Recording the geographical position of the pipe is a very complicated and technically difficult project, and the profile of the pipe under the ground needs to be mapped by other special equipment. The pipeline detection robot is produced by the following steps. Aiming at a crossing pipe paved by a construction method of 'pipe jacking crossing' in a special environment, the crossing pipe is influenced by the terrain or the actual environment when being paved, the crossing pipe is often fluctuated in height, the pipe diameter is different, in the past, different pipeline robots can be configured aiming at pipelines with different pipe diameters, so that the wheel pitch of the pipeline robot can be adapted to the inner diameter of the pipeline, the robot can be driven to stably travel in the pipeline and has a certain height from the lowest plane of the pipeline, and the influence of the water level stored in the pipeline or the influence of the welding points of the pipeline on the robot can be avoided.

Disclosure of Invention

The invention aims to provide a pipeline detection robot which can be suitable for pipeline detection robots with different pipe diameters, and the track of the climbing wheels of the pipeline detection robot is designed into a structure with adjustable size.

The method is realized by the following technical measures: the utility model provides a be suitable for pipe network exploration robot of different pipe diameters, includes the head device, and the head device includes the rectangular form device body in plane, and the device body left and right sides respectively is equipped with a crawl wheel, and two crawl wheels are connected with this body of device through adjustable coupling assembling, and adjustable coupling assembling is used for adjusting the transverse spacing between two crawl wheels.

Preferably, the device body comprises a flat plate part and a bridge part formed by extending backwards along the tail end of the flat plate part;

the adjustable connecting assembly comprises two fixing frames for mounting the crawling wheels, the top end of each fixing frame is connected with the first ends of the first suspension connecting rod and the second suspension connecting rod, and the second ends of the first suspension connecting rod and the second suspension connecting rod are fixedly connected with the flat plate part; the middle part of the second suspension connecting rod is connected with the bridging part through a limiting connecting rod, and the distance between the fixing frame and the flat plate part is changed by adjusting the relative position of the end part of the limiting connecting rod and the bridging part, so that the transverse distance between the two crawling wheels is adjusted.

Preferably, the climbing wheel motor further comprises a power module and a following device, wherein the power module is arranged between the tail end of the device body and the following device in an overhead mode and provides advancing power for the climbing wheel motor.

Preferably, the tail end of the device body is connected with the front end of the power module through a first metal sheet which is horizontally arranged.

Preferably, the rear end of the power supply module is connected with the front end of the following device through a second metal sheet which is vertically arranged.

Preferably, the crawling wheel is vertically installed relative to the middle axis of the detection robot, the crawling wheel comprises a holder motor, and a circular wheel body is coaxially installed on the outer side of the holder motor; the radius of the wheel body is larger than that of the tripod head motor, the wheel body is fixedly connected with a rotor of the tripod head motor, and the wheel body is driven to rotate to run when the rotor rotates.

Preferably, the wheel body is sheet-shaped, and a plurality of sawteeth are distributed on one circle.

Preferably, the outer surface of the wheel body is provided with a ring of retaining rings taking the center of the wheel body as the center or a plurality of retaining columns distributed in an annular manner, the retaining rings or the retaining columns protrude out of the outer surface of the wheel body, and the outer edges of the retaining rings or the retaining columns are close to the tooth roots of the sawteeth.

Preferably, a group of follow-up units for assisting the follow-up device to advance under the belt of the head device are respectively arranged at the front and the back of the follow-up device, each follow-up unit comprises two follow-up wheels which are positioned at two sides of the follow-up device and are obliquely arranged relative to the follow-up device, and the inclination angles of the follow-up wheels are adjustable; the gravity center height of the following device is adjusted by adjusting the inclination angles of the two groups of following wheels of the following unit.

Preferably, the follow-up unit comprises a follow-up wheel bracket, and the two follow-up wheels are positioned at the left side and the right side of the follow-up wheel bracket and are obliquely arranged relative to the follow-up bracket; two sides of the follow-up wheel support are respectively provided with a side wing, a plurality of limiting holes are distributed on the side wings, and the angle of inclination of the follow-up wheel is adjusted by adjusting the connection of the follow-up connecting rod and different limiting holes.

The beneficial effect of this application:

(1) according to the adjustable structure of the transverse distance between the two crawling wheels, the detection robot can adapt to pipelines with different pipe diameters, the transverse distance between the two crawling wheels is increased for pipelines with large pipe diameters, the transverse distance between the two crawling wheels is decreased for pipelines with small pipe diameters, different detection robots are not required to be configured according to different pipe diameters for detection, the practicability and flexibility are high, the adjusting method is simple, and the applicability problem of the detection robot and the pipeline to be detected is solved;

(2) the adjustable design of the inclination angle of the follow-up wheel solves the problem of unbalanced gravity center heights of the head device and the follow-up device caused by the change of the distance between the crawling wheels, so that the follow-up device can adjust the gravity center height of the head device along with the change of the gravity center of the head device in an adaptive manner, and the robot can keep running balance integrally;

(3) according to the detection robot, the power module and the head device are separately arranged, so that the head weight of the detection robot is reduced, the situation that the weight of the power module and the weight of the head device (mainly referred to as a detection unit) are concentrated at one position is avoided, the heavier power module is placed between the head device and the following device, and the weight of the power module is shared by the two crawling wheels and the following unit, so that the overall stress distribution of the head device is more uniform;

(4) in the application, the front end of the power supply device is connected with the rear end of the device body through the first metal sheet which is horizontally arranged, so that the operation fluctuation caused by welding spot parts can be eliminated, and the vibration of a power supply module caused by bumping can be weakened; the rear end of the power supply module is connected with the front end of the following device through a second metal sheet which is vertically arranged, so that the swing amplitude of the following device under a curve can be reduced;

(5) the tripod head motor is of a flat hollow structure, is thin in thickness, provides torque meeting the operation requirement of the pipe network detection robot, solves the problem that the wheel body occupies a large space due to the fact that a reduction gearbox is needed to be matched when the torque of a common motor is insufficient, and is very suitable for application scenes with small pipe diameters;

(6) be the slice circular structure with cloud platform motor complex wheel body in this application, adopt the slice structure to help alleviateing crawl wheel weight and volume, the contact of detecting robot and nonmetal pipeline (for example PE pipe, rubber tube) can be strengthened to the sawtooth that sets up on the wheel body for the area of contact of pipeline robot and pipeline inner wall is littleer, and it is stronger to grab the land fertility. The extension line of the central line of the sawtooth penetrates through the center of the wheel body, so that the wheel body is suitable for moving forwards and backwards in the pipeline;

(7) the detachable construction of wheel body makes pipe network exploration robot can be applicable to the pipeline of different pipe diameters in this application, only need according to the pipe diameter size with survey the speed demand when time change suitable radius size the wheel body can. The device is matched with an adjustable structure of the transverse distance of the crawling wheel;

(8) keep off the ring or be the setting of cyclic annular shelves post in this application and avoided the robot to move in the pipeline when the card pause, the wheel body does not stop the rotation, and sharp sawtooth is to the damage of pipeline inner wall.

Drawings

The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiment(s) of the application and together with the description serve to explain the application and not limit the application. In the drawings:

FIG. 1 is a probing robot structure (1) according to the present application;

FIG. 2 is a perspective view of the probing robot structure (2) of the present application;

FIG. 3 is a schematic diagram of a power module;

FIG. 4 is a view showing the structure of the main body of the apparatus shown in FIG. 1;

FIG. 5 is a view of the connection structure of the adjustable connection assembly;

FIG. 6 is a diagram of a power module connection configuration;

FIG. 7 is a view showing a structure of a first follower unit;

FIG. 8 is a view of the follower bracket of FIG. 7;

FIG. 9 is a view showing the structure of the follower link shown in FIG. 7;

FIG. 10 is a view of the construction of the crawling wheel;

FIG. 11 is a view of the motor structure of the cloud deck of FIG. 10;

FIG. 12 is a view showing the structure of the wheel body of FIG. 10 (1);

FIG. 13 is a view showing the structure of the wheel body of FIG. 10 (2);

in the figure: 1000. a head device;

100. the device comprises a device body, a 1010, a flat plate part, 1020, a bridging part, 1021, a positioning hole, 1030 and a rear connecting part; 110. the climbing wheel comprises a crawling wheel 1101, a holder motor 1101-1, a rotor 1101-2, a stator 11011, a first mounting hole 1102, a wheel body 1102-1 and a tooth-shaped protrusion; 1102-2, a second mounting hole;

200. a controller box body 210 and a controller;

300. a sensor cartridge 310, a detection assembly;

400. the power module 410, a first metal sheet 420, a longitudinal spring steel sheet 430 and a padding block;

500. the device comprises a first follow-up unit, 510, a follow-up bracket, 5110, a side wing, 5111, a rotation limiting hole, 5112, an adjustable limiting hole, 520, a follow-up wheel, 530, a follow-up connecting rod, 540, a mileage sensor, 5301, a first mounting hole, 5302 and a second mounting hole;

600. a following device;

700. a second follow-up unit;

810. an adjustable connection assembly; 8101. the fixing frame, 8102, first suspension connecting rod, 8103, second suspension connecting rod, 8104, spacing connecting rod.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. In this embodiment, the directions of "front", "back", "left" and "right" are based on the advancing direction of the detection robot in the duct, and the direction pointed by the head of the detection robot is front and the direction pointed by the tail of the detection robot is back.

A pipe network detection robot suitable for pipe networks with different pipe diameters is shown in figures 1-3 and comprises a head device 1000, a power module 400 and a following device 600, wherein the head device 1000 drives the power module 400 and the following device 600 to operate, and the power module 400 and the following device 600 are flexibly connected with each other, so that the power module 400 and the following device 600 can flexibly follow the head device 1000 to operate in a pipeline. The head device 1000 includes a planar strip-shaped device body 100 and a detection unit fixedly connected to the front end of the device body 100, and motor-driven crawl wheels 110 are respectively disposed on the left and right sides of the device body 100 for driving the detection unit to advance in the pipeline.

The detection unit comprises a detection component 310 and a controller 210, wherein the detection component 310 is electrically connected with the controller 210 and is used for detecting the environment of the pipeline and recording the walking condition of the mapping robot in the pipeline. The power module 400 provides travel power to the crawl wheel 110 motor on the one hand and the detection assembly 310 and the controller 210 on the other hand. As shown in fig. 4, the device body 100 is a main body, and includes a flat plate portion 1010, a bridge portion 1020 extending backward along a middle of an end of the flat plate portion, and a rear connecting portion 1030. The controller 210 is located right below the flat plate portion 1010 and is installed in a controller box 200, and the flat plate portion 1010 just serves as an upper cover of the controller box 200. A card type computer is installed as a controller 210 in the controller case 200. A sensor case 300 is fixedly connected to the front end (toward the forward direction of the robot) of the controller case 200. The sensor cartridge 300 is provided with a detection module 310, which includes a video recorder, an infrared distance measuring sensor, a laser distance measuring sensor, and a water measuring electrode, and the video recorder, the infrared distance measuring sensor, the laser distance measuring sensor, and the water measuring electrode are all connected to the controller 210. The video recorder is installed at the front end of the sensor box body and used for shooting or recording the video in real time in the operation process inside the pipeline and obtaining evidence, and effective image recording is carried out when emergency situations occur, such as brick and stone mud and other obstacles. Infrared distance measuring sensor is located the left and right sides of sensor box body, and when mapping robot independently walked in the pipeline, judged the environment of pipeline in real time through infrared distance measuring sensor, controller 210 can judge whether head device 1000 has met "three way connection" through gathering infrared distance measuring sensor and pipe wall distance value change, if yes, then selected the change of making the motion circuit. The water measuring electrode is installed at the bottom of the sensor box body and extends downwards, the principle that 'water has weak resistance' is applied, when water is accumulated in a pipeline, weak current can be conducted between the two electrodes, the controller 210 connected with the water measuring electrode judges that water is accumulated in the current pipeline when the current at the two ends of the water measuring electrode is monitored, the detection robot can be controlled to retreat to the starting point, and the real situation in the pipeline is photographed and recorded. Of course, the sensor box of the present application can also be selectively equipped with different detection devices or an illumination device according to the detection requirements.

The crawling wheels 110 are arranged on the left side and the right side of the controller box body 200, and drive the detection unit to run in the pipeline. The two crawlers 110 are connected to the apparatus body 100 by an adjustable connection assembly 810. As shown in fig. 5, the adjustable connecting assembly 810 includes two fixing frames 8101 disposed in parallel to the crawling wheel 110 in the vertical direction for mounting the crawling wheel 110, and the top end of each fixing frame 8101 is fixedly connected to the flat plate portion 1010 through a first suspension link 8102 and a second suspension link 8103. Specifically, a first end of the first suspension link 8102 and a first end of the second suspension link 8103 are fixedly connected with the upper surface of the flat plate portion 1010 of the device body 100 through a rotating shaft, and a second end of the first suspension link 8102 and a second end of the second suspension link 8103 are fixedly connected with the top end of the fixing frame 8101. The middle of the second suspension connecting rod 8103 is connected with the bridging portion 1020 through a limiting connecting rod 8104, a plurality of positioning holes 1021 are sequentially formed in the bridging portion 1020 along the center line direction, the first end of the limiting connecting rod 8104 is connected with the middle of the second suspension connecting rod 8103, and the second end of the limiting connecting rod 8104 is fixed in the positioning holes 1021 of the bridging portion 1020. The wheel track between the two crawling wheels 110 is adjusted by adjusting the relative position of the end of the limit connecting rod 8104 and the bridge part 1020 (namely, fixing the end of the limit connecting rod 8104 at different positioning holes 1021 of the bridge part 1020). The first suspension link 8102 and the second suspension link 8103 always maintain a relatively parallel state. When the second end of the limiting connecting rod 8104 moves backwards along the bridging part 1020, the second suspension connecting rod 8103 is pulled to contract towards the central axis of the machine body, the crawling wheels 110 are driven to approach towards the central axis of the machine body, and the distance between the two crawling wheels 110 is reduced. When the second end of the limiting connecting rod 8104 moves forwards along the bridging part 1020, the second suspension connecting rod 8103 is extruded to expand towards the outside of the central axis of the machine body, the crawling wheels 110 are driven to be far away from the central axis of the machine body, and the distance between the two crawling wheels 110 is enlarged. The structure enables the detection robot to adapt to the pipeline environments with different pipe diameters, and when the inner diameter of the pipeline is larger, the distance between the two crawling wheels 110 is adjusted to be enlarged; when the inner diameter of the pipeline is smaller, the distance between the two crawling wheels 110 is adjusted to shrink.

The power module 400 is located between the device body end and the follower device, and is suspended in the air and balanced by the flexible connection with the controller box 200 and the follower device. The detection robot runs in a pipeline for a long time and needs to provide sufficient power, the power module 400 cannot be very small, the power module 400 and the controller box body 200 can be combined together by the previous design, the total weight is borne by the active traveling wheels, and the climbing state is relatively arduous. In this embodiment, the power module 400 and the controller box 200 are separately disposed, which is helpful for reducing the head weight of the detection robot, avoiding the weight of the power module 400 and the controller box 200 from being concentrated at one position, placing the heavier power module 400 between the crawling wheel 110 and the following device, and sharing the weight of the power module 400 through the two crawling wheels 110 and the following device, so that the overall stress distribution of the head device 1000 is more uniform. As shown in fig. 6, further, when the power module 400 and the device body 100 cannot be located at the same horizontal plane in the vertical direction due to the height difference, an elevating block 430 may be disposed at the top of the power module 400, and the rear connection portion 1030 of the device body 100 is connected to the elevating block 430 at the top of the power module 400 through the first metal sheet 410 disposed horizontally, so as to keep the front and rear centers of gravity of the detection robot at the same horizontal plane, and ensure the stability of operation. When the detection robot encounters a pipeline welding spot in the operation process, the first metal sheet 410 helps to eliminate operation fluctuation caused by the welding spot, and reduces vibration of the power module caused by bumping of the crawling wheel 110. The power module 400 is flexibly connected with the front end of the following device through a second metal sheet 420, the length direction of the second metal sheet is the same as the central axis of the robot, and the width direction of the second metal sheet is perpendicular to the central axis of the robot. The second metal sheet 420 helps to reduce the swing amplitude of the following device 600 under a curve when the detecting robot encounters a curve during operation. The first metal sheet and the second metal sheet are realized by steel sheets.

As shown in fig. 7-9, a set of following units, namely a first following unit 500 and a second following unit 700, for assisting the following device to advance under the belt of the head device are respectively arranged at the front and the back of the following device. The second follower unit 700 has the same structural form as the first follower unit 500. Specifically, the first follower unit 500 includes a follower bracket 510 and follower wheels 520 positioned at left and right sides of the follower bracket 510. The follower wheels 520 are arranged to be mounted with an inward inclination to conform to the inner curved surface of the pipe for more smooth follow-up operation. Two sides of the follow-up support 510 are respectively provided with a side wing 5110, a plurality of limiting holes are distributed on the side wing 5110, the follow-up wheel 520 is fixedly connected with the limiting holes on the side wings 5110 through the follow-up connecting rod 530, and the relative height of the follow-up wheel 520 is adjusted by adjusting the connection of the follow-up connecting rod 530 and different limiting holes. Specifically, the center of the follower wheel 520 is fixedly connected with the first end of the follower link 530 through a stainless steel metal pulley, the second end of the follower link 530 is sequentially provided with a first mounting hole 5301 and a second mounting hole 5302, the flank 5110 is provided with N adjustable limiting holes 5112 and 1 rotation limiting hole 5111, wherein the first mounting hole 5301 of the follower link 530 is fixedly connected with the rotation limiting hole 5111 of the flank 5110 through a pin, and the second mounting hole 5302 of the follower link 530 is fixedly connected with the adjustable limiting hole 5112 of the flank 5110. The first mounting hole 5301 is fixed in the rotation limiting hole 5111 of the side wing 5110 through a pin, and when the second mounting hole 5302 is connected with different adjustable limiting holes 5112, the inclination degree of the follower wheel 520 on the first follower unit 500 relative to the central axis of the body is different, and the wheel track is different. Therefore, the inclination angle of the follower wheel 520 can be adjusted by adjusting the connection between the second mounting hole 5302 and the different adjustable limiting holes 5112.

When the distance between the two crawlers 110 is adjusted, the center of gravity of the head device is changed, and meanwhile, in order to keep the front-back balance of the robot, the center of gravity of the following device needs to be adjusted simultaneously. At this time, the inclination angle of the follower wheel can be adjusted by changing the connection position of the second mounting hole 5302 of the follower link 530 and the N adjustable limiting holes 5112 of the follower bracket 510. And meanwhile, the gravity center height of the following device can be adjusted by adjusting the inclination angles of the two groups of following units and the following wheels. Specifically, when the distance between the two crawling wheels 110 is increased, the center of gravity of the head device is lowered, the mounting positions of the second mounting holes 5302 of the follower connecting rods 530 of the two sets of follower units are moved downwards, so that the inclination degree of the follower wheels 520 relative to the central axis of the machine body is increased, the wheel distance between the two follower wheels 520 of each set of follower units is increased, and the center of gravity of the follower device is lowered; when the distance between the two crawling wheels 110 is reduced, the center of gravity of the head device rises, the mounting positions of the first mounting holes 5301 of the follow-up connecting rods 530 of the two groups of follow-up units are moved upwards, so that the inclination degree of the follow-up wheels 520 relative to the central axis of the machine body is reduced, the wheel distance between the two follow-up wheels 520 of each group of follow-up units is reduced, and the center of gravity of the follow-up device rises accordingly. The tail end of the following support 510 is connected with the front end part of the connecting framework of the following device 600 through a cross universal joint, and the connection part can be connected by adopting a connecting loose-leaf.

The following device 600 may be used to carry an inertial sensor, and the inertial sensor is used to detect the walking posture of the surveying and mapping robot in the pipeline, and the inertial sensor is electrically connected to the controller 210. The inertial sensor is a sensor for detecting and measuring acceleration, inclination, impact, vibration, rotation and multi-free motion, in the application, the inertial sensor senses the walking route and the walking posture of the head device 1000, and then the walking distance measured by the mileage sensor 540 is combined to measure and draw the distribution condition of the pipeline under the ground, such as where a turn is made, where an uphill slope is formed, where a downhill slope is formed, and the like. The surveying and mapping robot provided by the application is mainly used for surveying and mapping the crossing pipe laid by the construction method of 'pipe jacking crossing', so that the inertial sensor is carried on the following device 600 to weaken the influence of factors such as shaking and mechanical vibration on the detection effect of the inertial sensor in the operation process of the head device as much as possible through the structural design of the following device 600, including the problems that the accumulated error of an inertial measurement unit is gradually increased, and the deviation of the finally obtained measurement result and actual data is large. The follower device 600 design is disclosed in other patents in the same family of products and will not be described in detail in this application.

The detection robot is further provided with a mileage sensor 540, and the mileage sensor 540 may be disposed on one of the follower wheels 520 or the crawl wheels 110 and electrically connected to the controller 210. In this embodiment, the mileage sensor 540 is provided on one follower wheel 520 of the first follower device.

As shown in fig. 10 to 13, the crawling wheel 110 includes a pan/tilt motor 1101 and a wheel body 1102, the pan/tilt motor is a dc brushless motor, and the wheel body is adapted to the outer side surface structure of the pan/tilt motor and coaxially installed outside the pan/tilt motor. The wheel body radius is greater than cloud platform motor radius, and wheel body round edge salient in cloud platform motor edge for the operation of cloud platform motor leaving pipe wall surface, will climb the round of wheel and prop up on the whole. The wheel body is fixedly connected with a rotor of the tripod head motor, and the wheel body is driven to rotate when the rotor of the tripod head motor rotates. The central axis of the wheel body 1102 is perpendicular to the running direction of the pipeline robot. The power end of the pan/tilt motor 1101 is connected with the power module 400, the power module 400 supplies power, the control end of the pan/tilt motor 1101 is connected with the controller 210, and the controller 210 controls the forward or backward movement and the operation speed. Pan/tilt head 1101 includes a rotor 1101-1 and a stator 1101-2, the rotor being disposed at an inner periphery of the stator for coaxial rotation with respect to the stator. The surface of the rotor is provided with a plurality of first mounting holes 11011 which are used for being matched with the second mounting holes 1102-2 at the center of the wheel body, the inner surfaces of the first mounting holes and the second mounting holes are provided with threaded holes, the wheel body is fixedly connected with the rotor through screws or studs, and the rotor rotates to drive the wheel body to rotate. The cradle head motor is characterized in that a rotor and a stator are arranged side by side at the left and right sides, the stator is arranged at the inner side of the robot, the rotor is arranged at the outer side, a wheel body is fixedly connected with the outer surface of the rotor, and the wheel body and the rotor rotate coaxially relative to the stator

This application detection robot mainly is applied to and passes through the pipe and surveys, passes through the pipe diameter and generally between 160mm ~630mm, and ordinary motor need cooperate the reducing gear box to use because the moment of torsion is not enough, and this just makes wheel body 1102 part occupation space too big, can't be suitable for the pipe of little pipe diameter. The holder motor 1101 adopted in the embodiment is of a flat hollow structure, the thickness is thinner, the weight is only 34g, direct current 24V is adopted for power supply, the rotating speed can reach 5000RPM, the operation is silent, the provided torque meets the operation requirement of the pipe network detection robot, a reduction gearbox is not required to be matched for use, the required installation space is small, and the holder motor is very suitable for application scenes with small pipe diameters; and the structure is simpler and more convenient because no lead is dragged and no mechanical structure is interfered between the wheel body and the wheel body.

The wheel body matched with the tripod head motor is of a sheet-shaped circular structure. In the case of a relatively cylindrical wheel, it is important to describe that the wheel is relatively thin. It is also possible if a cylindrical wheel is used, but a wheel of sheet-like circular configuration helps to reduce the weight and bulk of the crawling wheel. Adopt lamellar structure to help alleviateing crawl wheel weight and volume, and is less with pipeline inner wall frictional force, and the running resistance is little. Aiming at non-metal pipelines, such as PE pipes, rubber pipes and the like, a plurality of saw teeth are distributed on one circle of the wheel body, and the saw teeth are in a pointed shape and are used for being in contact with the pipe wall. Wherein the extension line of the central line of each saw tooth passes through the center of the wheel body, so that the end part of each saw tooth is vertically contacted with the pipe wall, and the wheel body is suitable for running in the forward and backward directions in the pipeline. When the crawl wheel moves forward or backward in the pipeline, the sawtooth is inserted into the pipe wall surface layer, a very shallow mark is left on the pipe wall surface layer, the contact area of the wheel body and the pipe wall is small by the pointed end, friction is small, and the ground grabbing force is stronger because the sawtooth can go deep into the pipe wall, so that the phenomenon of skidding or dumping is not easy to occur, and the stable operation of the robot in the pipeline is facilitated to be ensured.

The outer surface of the wheel body is provided with a ring of retaining rings 1102-31 taking the center of the wheel body as the center or a plurality of retaining columns 1102-32 distributed in a ring shape, and the retaining rings or the retaining columns protrude out of the outer surface of the wheel body. The outer edge of the ring or post is adjacent to the root of the serration. The setting of fender ring or the fender post that is cyclic annular distribution is when avoiding the robot to move the card pause in the pipeline, and the wheel body does not stop the rotation, if not add the separation, and the pipeline inner wall can be cut to sharp sawtooth, and the sawtooth at wheel body edge can form the cutting gap of comparison dark in the pipe wall, and the lower surface and the collision of pipeline bottom of cloud platform motor produce powerful friction, force the motor stall. After setting up and keeping off the ring or being the shelves post of cyclic annular distribution, the wheel body appears blocking in the back sawtooth tip continuously rotates and inserts the pipe wall, runs into and keeps off the ring or be the shelves post of cyclic annular distribution, keeps off the ring or be the shelves post card of cyclic annular distribution and make the unable further downcut of sawtooth tip in the edge of cutting the gap to the protection pipe wall.

Under one condition, the wheel body is detachably connected with the side wall of the holder motor through a screw. The detachable structure of the wheel body enables the pipe network detection robot to be suitable for pipelines with different pipe diameters, and the wheel body with the appropriate radius can be replaced according to the pipe diameter and the speed requirement during detection.

It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or steps disclosed herein, but extend to equivalents thereof as would be understood by those skilled in the relevant art. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.

Although the embodiments of the present invention have been disclosed, the disclosure is only for the convenience of understanding the present invention and is not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. The utility model provides a be suitable for pipe network exploration robot of different pipe diameters which characterized in that, includes the head device, and the head device includes the rectangular form device body in plane, and the device body left and right sides respectively is equipped with a crawl wheel, and two crawl wheels are connected with this body of device through adjustable coupling assembling, and adjustable coupling assembling is used for adjusting the horizontal interval between two crawl wheels.

2. The pipe network detecting robot suitable for different pipe diameters of claim 1, wherein the device body comprises a flat plate part and a bridge part formed by extending backwards along the tail end of the flat plate part;

the adjustable connecting assembly comprises two fixing frames for mounting the crawling wheels, the top end of each fixing frame is connected with the first ends of the first suspension connecting rod and the second suspension connecting rod, and the second ends of the first suspension connecting rod and the second suspension connecting rod are fixedly connected with the flat plate part;

the middle part of the second suspension connecting rod is connected with the bridging part through a limiting connecting rod, and the distance between the fixing frame and the flat plate part is changed by adjusting the relative position of the end part of the limiting connecting rod and the bridging part, so that the transverse distance between the two crawling wheels is adjusted.

3. The pipe network detection robot suitable for different pipe diameters according to claim 1, further comprising a power module and a following device, wherein the power module is arranged between the tail end of the device body and the following device in an overhead mode and provides advancing power for the crawling wheel motor.

4. The pipe network detection robot suitable for different pipe diameters according to claim 3, wherein the tail end of the device body is connected with the front end of the power supply module through a first metal sheet which is horizontally arranged.

5. The pipe network detection robot suitable for different pipe diameters according to claim 3 or 4, wherein the rear end of the power supply module is connected with the front end of the following device through a second metal sheet which is vertically arranged.

6. The pipe network detection robot suitable for pipe networks with different pipe diameters as claimed in claim 1, wherein the crawling wheel comprises a holder motor, and a circular wheel body is coaxially mounted on the outer side of the holder motor; the radius of the wheel body is larger than that of the tripod head motor, the wheel body is fixedly connected with a rotor of the tripod head motor, and the wheel body is driven to rotate to run when the rotor rotates.

7. The pipe network detecting robot suitable for different pipe diameters according to claim 6, wherein the wheel body is sheet-shaped, and a plurality of saw teeth are distributed on a circle.

8. The pipe network detecting robot suitable for pipe networks of different pipe diameters as claimed in claim 7, wherein the outer surface of the wheel body is provided with a ring of retaining rings centered on the center of the wheel body or a plurality of retaining posts annularly distributed, the retaining rings or the retaining posts protrude out of the outer surface of the wheel body, and the outer edges of the retaining rings or the retaining posts are close to the tooth root of the sawtooth.

9. The pipe network detection robot suitable for different pipe diameters according to claim 1, wherein a group of follow-up units for assisting the follow-up device to advance under the belt of the head device are respectively arranged at the front and the rear of the follow-up device, each follow-up unit comprises two follow-up wheels which are positioned at two sides of the follow-up device and are obliquely arranged relative to the follow-up device, and the inclination angles of the follow-up wheels are adjustable; the gravity center height of the following device is adjusted by adjusting the inclination angles of the two groups of following wheels of the following unit.

10. The pipe network detection robot suitable for pipe networks with different pipe diameters as claimed in claim 9, wherein the follow-up unit comprises a follow-up wheel bracket, two follow-up wheels are arranged at the left side and the right side of the follow-up wheel bracket and are obliquely arranged relative to the follow-up bracket; two sides of the follow-up wheel support are respectively provided with a side wing, a plurality of limiting holes are distributed on the side wings, and the angle of inclination of the follow-up wheel is adjusted by adjusting the connection of the follow-up connecting rod and different limiting holes.

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