CN116608363B - Pipeline detection robot and application method thereof - Google Patents
Pipeline detection robot and application method thereof Download PDFInfo
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- CN116608363B CN116608363B CN202310563494.3A CN202310563494A CN116608363B CN 116608363 B CN116608363 B CN 116608363B CN 202310563494 A CN202310563494 A CN 202310563494A CN 116608363 B CN116608363 B CN 116608363B
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- 238000001514 detection method Methods 0.000 title claims abstract description 70
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 238000007689 inspection Methods 0.000 claims description 22
- 230000006978 adaptation Effects 0.000 claims description 7
- 238000010030 laminating Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 description 4
- 230000009193 crawling Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000011218 segmentation Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003345 natural gas Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000008399 tap water Substances 0.000 description 1
- 235000020679 tap water Nutrition 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- F16L55/44—Constructional aspects of the body expandable
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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
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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)
Abstract
The invention provides a pipeline detection robot and a using method thereof, belonging to the technical field of pipeline robots, and comprising a machine body; the plurality of searchlight are fixedly connected to the side end of the machine body, and the camera is fixed to the side end of the machine body; the deflection mechanism is arranged at the side end of the machine body; the driving wheels are arranged and are circumferentially distributed on the circumferential outer surface of the machine body; the adjusting mechanisms are provided with a plurality of groups, and the plurality of groups of adjusting mechanisms are connected with a plurality of driving wheels; when the pipeline detection robot advances in the pipeline to meet the condition of pipeline breakage, the pipeline detection robot can be attached to the inner wall of the pipeline to move when gaps are reserved at the pipeline breakage to accumulate foreign matters or the pipeline is deformed due to outward protrusion and inward sinking of the pipeline, so that the pipeline detection robot can bypass the breakage and accumulated foreign matters in the pipeline, the pipeline is prevented from being detected for multiple times in sections, and the pipeline detection workload is reduced.
Description
Technical Field
The invention belongs to the technical field of pipeline robots, and particularly relates to a pipeline detection robot and a using method thereof.
Background
The pipeline robot is a mechanical, electrical and mechanical integrated system capable of automatically walking along the inside or the outside of a small pipeline and carrying one or more sensors and operation machinery to perform a series of pipeline operations, and the pipeline detection robot is one of the pipeline robots and is used for defect inspection, repair and other works of various pipelines such as natural gas pipelines, petroleum pipelines, urban water supply and drainage pipelines, tap water pipelines and the like.
The authority publication number CN112728291A describes a pipeline inner wall flaw detection crawling robot and a use method thereof, wherein the pipeline inner wall flaw detection crawling robot comprises a mounting assembly, the inside of the mounting assembly comprises a first triangular mounting plate and triangular butt joint rods, the front end surface of the first triangular mounting plate is fixedly provided with a second triangular mounting plate through a plurality of triangular butt joint rods, the second triangular mounting plate is fixedly provided with a supporting butt joint base through the output end of a motor, the front end of the supporting butt joint base is fixedly provided with a main rod, the front end of a main rod body of the main rod of the device is provided with forward rotation threads, and the rear end of the main rod body of the device is provided with reverse rotation threads; compared with the traditional pipeline detection scheme, the invention adopts a modularized structural design, and has the advantages of simple structure, wide practical field, safety, reliability, high cost performance, certain turning function, suitability for reducing pipeline detection, flexible control mode and the like.
Said invention adopts modularized structural design, and has the advantages of simple structure, wide application range, high cost performance, safety and reliability, certain turning function, and can be used for detecting variable-diameter pipeline and flexible control mode, etc. The multi-section modularized structural design is adopted, so that the device is convenient to upgrade, meanwhile, the turning function can be realized, the right-angle turning under a smaller turning radius can be realized under ideal conditions, the crawler-type three-wheeled leg structure is adopted, the annular space is large, the device has certain obstacle crossing capability, and the deformation and damage positions of local pipelines can be effectively avoided without influencing the continuous forward detection; the screw rod is driven by the motor so as to drive the nut to move, and then the connecting rod is pushed to change the supporting angles of the driving crank and the driven crank to adjust the opening and closing angles of the crawler feet, so that the crawler feet are suitable for different pipe diameters; however, in the practical use process, the existing pipeline detection robot is limited in that the machine body cannot perform adjustment movement on the vertical section in the pipeline, when the pipeline detection robot advances in the pipeline to meet the pipeline damage, foreign matters are accumulated in a notch of the pipeline damage, or when the pipeline is deformed due to outward protrusion and inward sinking of the pipeline, the pipeline detection robot and the inner wall of the pipeline cannot be attached and moved, so that the pipeline detection robot cannot bypass the damage in the pipeline, then the pipeline detection robot needs to perform the pipeline detection for a plurality of times in a segmented manner, and the pipeline detection workload is increased.
Disclosure of Invention
The invention aims to provide a pipeline detection robot and a using method thereof, which aim to solve at least one technical problem in the prior art.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a pipeline detection robot comprises a machine body;
the plurality of searchlight are arranged, the plurality of searchlight are fixedly connected to the side end of the machine body, the camera is fixed to the side end of the machine body, and the camera is positioned among the plurality of searchlight;
the deflection mechanism is arranged at the side end of the machine body and used for deflecting the machine body;
the driving wheels are arranged in a plurality, and the driving wheels are circumferentially distributed on the circumferential outer surface of the machine body; and
the adjusting mechanism is provided with a plurality of groups, and the plurality of groups of adjusting mechanisms are connected with a plurality of driving wheels and used for pushing the machine body to move.
As a preferable scheme of the invention, each group of the adjusting mechanism comprises a pushing component, a driving component and a connecting rod component, wherein the pushing component is arranged on the circumferential surface of the machine body, the connecting rod component is connected with the pushing component and the driving wheel, the driving component is arranged on the connecting rod component, and the driving component is connected with the driving wheel.
As a preferable scheme of the invention, the pushing assembly comprises pushing grooves, a first motor, a screw rod, sliding blocks, limiting blocks and limiting grooves, wherein the pushing grooves are formed in the circumferential surface of the machine body, the first motor is fixedly arranged between the inner walls of the machine body, the screw rod is fixedly connected to the output end of the first motor, the screw rod extends to the position between the inner walls of the pushing grooves, the sliding blocks are sleeved on the circumferential surface of the screw rod, two limiting grooves are formed in the circumferential surface of the pushing grooves, two limiting blocks are arranged, the two limiting blocks slide in the two limiting grooves, and the two limiting blocks are connected with the two sliding blocks.
As a preferable scheme of the invention, the connecting rod assembly comprises a connecting rod groove, a connecting block, a push-pull rod, a swinging rod and a driving wheel groove, wherein the connecting rod groove is formed in the circumferential surface of the machine body, the connecting rod groove is communicated with the pushing groove, the swinging rod is rotationally connected between the inner walls of the connecting rod groove, the swinging rod is rotationally connected with the driving wheel, the connecting block is fixedly connected to the top of the sliding block, the push-pull rod is arranged between the inner walls of the connecting rod groove, one end of the push-pull rod is connected with the connecting block through a hinge shaft, the other end of the push-pull rod is connected with the swinging rod through a hinge shaft, the driving wheel groove is formed in the side end of the machine body, and the driving wheel groove corresponds to the driving wheel.
As a preferable scheme of the invention, the driving assembly comprises a gear cover, a driven gear, a driving gear and a second motor, wherein the driven gear is fixedly connected to the rotating shaft end of the driving wheel, the second motor is fixedly connected to the side end of the swinging rod, the output end of the second motor extends to the other end of the swinging rod, the driving gear is fixedly connected to the output end of the second motor, the driving gear is meshed with the driven gear, and the gear cover is sleeved on the surfaces of the driven gear and the driving gear.
As a preferable scheme of the invention, a plurality of accommodating grooves are formed in the circumferential surface of the machine body, rotating shafts are rotatably connected in the accommodating grooves, one ends of the rotating shafts extend to the side ends of the machine body, linkage rods are fixedly connected to the extending ends of the rotating shafts, a plurality of auxiliary rods are rotatably connected to the side ends of the swinging rods, and a plurality of auxiliary wheels are rotatably connected between the auxiliary rods and the linkage rods.
As a preferable scheme of the invention, the deflection mechanism comprises a rotating rod, a supporting rod, an electric push rod, a third motor and a rotating wheel, wherein the rotating rod is rotationally connected with the side end of the machine body, the supporting rod is rotationally connected with the side end of the rotating rod through a hinge shaft, the third motor is fixedly arranged at the side end of the supporting rod, the output end of the third motor extends to the other end of the supporting rod, the rotating wheel is fixedly connected with the output end of the third motor, the electric push rod is fixedly connected with the side end of the machine body, and the output end of the electric push rod is rotationally connected with the supporting rod.
As a preferable scheme of the invention, a plurality of caulking grooves are formed in the circumferential surface of the machine body, and a plurality of balancing weights are detachably arranged in the caulking grooves.
As a preferable scheme of the invention, the side ends of the swinging rods are fixedly connected with electromagnetic suction blocks, and the machine body is internally provided with an operation module.
The application method of the pipeline detection robot comprises the following steps:
s1, entering a pipeline:
the lifting hook hooks the two lifting blocks, performs lifting operation on the wellhead of the pipeline, vertically descends the pipeline detection robot to the depth of the pipeline to be detected, and pushes the pipeline detection robot to enable the pipeline detection robot to enter the pipeline;
s2, pipe diameter adaptation:
the pipeline detection robot is electrified and started, the running module is electrified and started to start a pipe diameter adaptation program, the plurality of electromagnetic suction blocks are electrified and released to lock the plurality of swinging rods, the plurality of first motors are started, the output ends of the plurality of first motors drive the plurality of screw rods to rotate, the plurality of screw rods push the plurality of slide blocks through sliding fit with the plurality of slide blocks, the plurality of slide blocks guide and move in sliding fit with the limiting grooves in the plurality of limiting blocks, the plurality of slide blocks move to drive the plurality of connecting blocks, the plurality of connecting blocks push the plurality of push-pull rods, the plurality of swinging rods push the plurality of swinging rods out of the plurality of connecting rod grooves, the plurality of driving wheels push the plurality of auxiliary rods to move, the plurality of auxiliary rods drive the plurality of linkage rods to turn over, the plurality of auxiliary wheels push the plurality of auxiliary wheel grooves, and support the machine body through the plurality of auxiliary wheels and the plurality of driving wheels, so that the pipeline detection robot is positioned at a central point of the pipeline inner diameter of the pipeline detection robot, and the pipeline detection robot is adapted to the pipe diameter of the pipeline;
s3, moving forward:
when the pipeline detection robot is in the pipeline for moving, the plurality of second motors are started, the plurality of second motors drive the plurality of driving gears to rotate, the plurality of driving gears drive the plurality of driven gears to rotate through meshing with the plurality of driven gears, so that the plurality of driven gears drive the plurality of driving wheels to rotate, and the plurality of driving wheels drive the machine body to move in the pipeline through rotation, so that the pipeline detection robot can move forward;
s4, obstacle bypass:
when pipeline inspection robot and pipeline in advance meet pipeline damage, observe the position of damage or pile up the foreign matter through the camera, start electric putter, electric putter promotes the bracing piece, make rotor and pipeline inner wall laminating, start the third motor, the third motor drives rotor and rotates, rotor deflects pipeline inspection robot through rotatory, make a plurality of drive wheels and auxiliary wheel avoid damage or pile up the foreign matter department, first motor in the single adjustment mechanism of start simultaneously, make lead screw and slider sliding fit, through connecting block pulling swinging arms rotation, make single drive wheel be close to the organism, start first motor in the other multiunit adjustment mechanism simultaneously, through the sliding fit of a plurality of lead screws and slider, a plurality of drive wheels are kept away from the organism in addition, then make the organism carry out the removal on the pipe diameter cross-section between a plurality of drive wheels, make the organism keep away from damage or pile up the foreign matter department, make things convenient for pipeline inspection robot to walk around to pipeline damage or pile up the foreign matter department and carry out the obstacle.
Compared with the prior art, the invention has the beneficial effects that:
1. in the scheme, when the pipeline detection robot advances in the pipeline to meet the pipeline damage position, the position of the damage position or the position where foreign matters are accumulated is observed through the camera, the electric push rod is started, the electric push rod pushes the support rod, so that the rotating wheel is attached to the inner wall of the pipeline, the third motor is started, the third motor drives the rotating wheel to rotate, the rotating wheel deflects the pipeline detection robot through rotation, a plurality of driving wheels and auxiliary wheels avoid the damaged position or the position where foreign matters are accumulated, simultaneously, a first motor in the single-group adjusting mechanism is started, so that the screw rod is in sliding fit with the sliding block, the push-pull rod is pushed and pulled through the connecting block, the push-pull rod rotates through moving the push-pull swinging rod, the single driving wheel is close to or far from the machine body, simultaneously, the first motors in the other groups of adjusting mechanisms are started, and the sliding fit of the plurality of screw rods and the sliding blocks is adopted, in addition, the plurality of driving wheels are far away from or close to the machine body, so that the machine body moves on the pipe diameter section among the plurality of driving wheels, the machine body is far away from the broken position or the position where foreign matters are accumulated, by the distance between the plurality of driving wheels and the machine body, the pipeline detection robot can conveniently bypass the obstacle at the broken position or the accumulated foreign matters of the pipeline when advancing, so that the machine body can perform adjusting movement on a vertical section in the pipeline, when the pipeline detection robot advances in the pipeline to meet the pipeline breakage, when the gap accumulated foreign matters exist at the damaged part of the pipeline or the pipeline is deformed due to outward protrusion and inward sinking, the pipeline detection machine can be attached to the inner wall of the pipeline for movement, and then can make pipeline detection robot bypass the damage in the pipeline and pile up the foreign matter, avoid the pipeline segmentation to detect many times, effectively reduce pipeline detection work load.
2. In this scheme, when carrying out the distance adjustment to a plurality of drive wheels, a plurality of swinging arms promote a plurality of auxiliary levers and remove for a plurality of auxiliary levers promote a plurality of interlock poles and rotate, make a plurality of auxiliary wheels and a plurality of drive wheel parallel movement, a plurality of auxiliary wheels are used for carrying out auxiliary stay to the organism, avoid the slope of organism in the pipeline.
3. In this scheme, when the organism is required to deflect, electric putter's output promotes the bracing piece and removes, and the bracing piece drives the third motor and removes for the pipeline inner wall is pressed close to the rotor, and the third motor starts, and the output of third motor drives the rotor and rotates, rotates the wheel and promotes the organism in the pipeline and rotate, rotates the wheel and deflects pipeline detection robot through the rotation, makes a plurality of drive wheels and auxiliary wheel can avoid damage department or pile up foreign matter department.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, serve to explain the invention. In the drawings:
FIG. 1 is a perspective view of a first view of a pipeline inspection robot according to the present invention;
FIG. 2 is a perspective view of a second view of a pipeline inspection robot according to the present invention;
FIG. 3 is a schematic view of the disassembly of a balancing weight of a pipeline inspection robot according to the present invention;
FIG. 4 is a first semi-sectional view of a pipeline inspection robot according to the present invention;
FIG. 5 is a second semi-sectional view of a pipeline inspection robot according to the present invention;
FIG. 6 is an exploded view of an adjustment mechanism of a pipeline inspection robot according to the present invention;
FIG. 7 is an exploded view of a push assembly of a pipeline inspection robot according to the present invention;
FIG. 8 is an exploded view of a link assembly of a pipeline inspection robot according to the present invention;
FIG. 9 is an exploded view of a drive assembly of a pipeline inspection robot according to the present invention;
fig. 10 is an exploded view of a deflection mechanism of a pipeline inspection robot according to the present invention.
In the figure: 1. a body; 2. a caulking groove; 3. balancing weight; 4. a pushing groove; 5. a link slot; 6. a first motor; 7. a screw rod; 8. a slide block; 9. a limiting block; 10. a connecting block; 11. a limit groove; 12. a push-pull rod; 13. a swinging rod; 14. a driving wheel; 15. an electromagnetic suction block; 16. an auxiliary lever; 17. a linkage rod; 18. a rotating shaft; 19. an auxiliary wheel; 20. a receiving groove; 21. an auxiliary wheel groove; 22. a driving wheel groove; 23. a gear cover; 24. a driven gear; 25. a drive gear; 26. a second motor; 27. a rotating lever; 28. a support rod; 29. an electric push rod; 30. a third motor; 31. a rotating wheel; 32. hoisting the block; 33. a searchlight; 34. a camera; 35. and (5) operating the module.
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.
Referring to fig. 1-10, a pipeline inspection robot and method of using the same, comprising:
a machine body 1;
the searchlight 33 is provided with a plurality of searchlights 33, the searchlight 33 is fixedly connected to the side end of the machine body 1, the camera 34 is fixed to the side end of the machine body 1, and the camera 34 is positioned among the searchlights 33;
the deflection mechanism is arranged at the side end of the machine body 1 and is used for deflecting the machine body 1;
the driving wheels 14 are arranged, the driving wheels 14 are a plurality of, and the plurality of driving wheels 14 are circumferentially distributed on the circumferential outer surface of the machine body 1; and
the adjusting mechanism is provided with a plurality of groups, and the plurality of groups of adjusting mechanisms are connected with a plurality of driving wheels 14 for pushing the machine body 1 to move.
In the invention, a plurality of hoisting blocks 32 are fixedly connected to the circumferential surface of a machine body 1, the plurality of hoisting blocks 32 are used for hoisting the machine body 1, the machine body 1 is used for supporting and fixing an adjusting mechanism, a deflection mechanism, the hoisting blocks 32, a camera 34 and a plurality of searchlights 33, the plurality of searchlights 33 are used for providing a light source for a space in a pipeline, the camera 34 is used for collecting video images in the pipeline, the deflection mechanism is used for deflecting the machine body 1, a plurality of driving wheels 14 are used for pushing the machine body 1 to advance in the pipeline through rotation, and a plurality of groups of adjusting mechanisms are connected with the plurality of driving wheels 14 and are used for pushing the machine body 1 to move.
Each group of adjusting mechanism comprises a pushing component, a driving component and a connecting rod component, wherein the pushing component is arranged on the circumferential surface of the machine body 1, the connecting rod component is connected with the pushing component and the driving wheel 14, the driving component is arranged on the connecting rod component, and the driving component is connected with the driving wheel 14.
In the present invention, the pushing assembly is used to push the expansion and contraction of the link assembly, the link assembly is used to move the driving wheel 14, and the driving assembly is used to power the rotation of the driving wheel 14.
In a specific embodiment, the pushing assembly includes a pushing groove 4, a first motor 6, a screw rod 7, a sliding block 8, a limiting block 9 and a limiting groove 11, the pushing groove 4 is formed on the circumferential surface of the machine body 1, the first motor 6 is installed and fixed between the inner walls of the machine body 1, the screw rod 7 is fixedly connected to the output end of the first motor 6, the screw rod 7 extends to between the inner walls of the pushing groove 4, the sliding block 8 is sleeved on the circumferential surface of the screw rod 7, two limiting grooves 11 are formed on the circumferential surface of the pushing groove 4, two limiting blocks 9 are arranged, two limiting blocks 9 slide in the two limiting grooves 11, and the two limiting blocks 9 are connected with the two sliding blocks 8.
According to the invention, the pushing groove 4 is formed to accommodate the screw rod 7, the sliding block 8 and the connecting block 10, the first motor 6 is used for driving the screw rod 7 to rotate, the screw rod 7 drives the sliding block 8 to move through sliding fit with the sliding block 8, the sliding block 8 is used for supporting and fixing the connecting block 10, the two limiting grooves 11 are formed to accommodate sliding of the two limiting blocks 9, the two limiting blocks 9 guide and limit movement of the sliding block 8 through sliding fit with the two limiting grooves 11, in a single-group adjusting mechanism, when the driving wheel 14 needs to be moved, the first motor 6 is started, the output end of the first motor 6 drives the screw rod 7 to rotate, the sliding block 9 is driven to move through sliding fit with the sliding block 8, the sliding block 8 drives the connecting block 10 to move, the connecting block 10 drives the connecting rod assembly to move the driving wheel 14, and the distance between the driving wheel 14 and the machine body 1 is adjusted to provide power for movement of the driving wheel 14.
In a preferred embodiment, the connecting rod assembly comprises a connecting rod groove 5, a connecting block 10, a push-pull rod 12, a swinging rod 13 and a driving wheel groove 22, wherein the connecting rod groove 5 is formed in the circumferential surface of the machine body 1, the connecting rod groove 5 is communicated with the pushing groove 4, the swinging rod 13 is rotationally connected between the inner walls of the connecting rod groove 5, the swinging rod 13 is rotationally connected with the driving wheel 14, the connecting block 10 is fixedly connected to the top of the sliding block 8, the push-pull rod 12 is arranged between the inner walls of the connecting rod groove 5, one end of the push-pull rod 12 is connected with the connecting block 10 through a hinge shaft, the other end of the push-pull rod 12 is connected with the swinging rod 13 through a hinge shaft, the driving wheel groove 22 is formed in the side end of the machine body 1, and the driving wheel groove 22 corresponds to the driving wheel 14.
In the invention, the connecting rod groove 5 is arranged to accommodate a linkage assembly, the swinging rod 13 is used for supporting and fixing the driving wheel 14 and the electromagnetic suction block 15, the connecting block 10 is used for pushing the push-pull rod 12 to move, the push-pull rod 12 is used for pushing the swinging rod 13 to turn over, the driving wheel groove 22 is arranged to accommodate the driving wheel 14, when the driving wheel 14 needs to be moved, the pushing assembly drives the connecting block 10 to move, the connecting block 10 pushes the push-pull rod 12 to move, the swinging rod 12 pushes the swinging rod 13 to rotate, the swinging rod 13 changes the distance between the driving wheel 14 and the machine body 1 through rotation, when a pipeline detection robot and a pipeline advance to meet the pipeline breakage, the position of the breakage or accumulated foreign matters is observed through the camera 34, the electric push rod 29 is started, the electric push rod 29 pushes the supporting rod 28, the rotating wheel 31 is attached to the inner wall of the pipeline, the third motor 30 is started, the third motor 30 drives the rotating wheel 31 to rotate, the rotating wheel 31 deflects the pipeline detection robot through rotation, so that the plurality of driving wheels 14 and the auxiliary wheel 19 avoid the broken position or the position where foreign matters are accumulated, the first motor 6 in the single-group adjusting mechanism is started simultaneously, so that the screw rod 7 is in sliding fit with the sliding block 8, the push-pull rod 12 is pushed and pulled through the connecting block 10, the push-pull rod 12 rotates through moving the push-pull swinging rod 13, so that the single driving wheel 14 is close to or far away from the machine body 1, the first motor 6 in the other multiple groups of adjusting mechanisms is started simultaneously, the other multiple driving wheels 14 are far away from or close to the machine body 1 through sliding fit of the plurality of screw rods 7 and the sliding blocks 8, then the machine body 1 moves on the pipe diameter section between the multiple driving wheels 14, so that the machine body 1 is far away from the broken position or the position where foreign matters are accumulated, the distance between the multiple driving wheels 14 and the machine body 1 is kept, make things convenient for pipeline detection robot to walk around in broken department of pipeline or pile up foreign matter department obstacle when advancing for the machine main part can carry out the regulation removal on the vertical cross section in the pipeline, when making pipeline detection robot and pipeline in advance meet pipeline broken department, pile up the pipe diameter deformation that foreign matter or pipeline outwards outstanding, the invagination leads to pipeline breach, make pipeline detection machine and pipeline inner wall laminating mutually remove, make pipeline detection robot can walk around the broken department in the pipeline and pile up the foreign matter, avoid pipeline segmentation multitime to detect, reduce pipeline detection work load.
In a preferred embodiment, the driving assembly includes a gear cover 23, a driven gear 24, a driving gear 25 and a second motor 26, the driven gear 24 is fixedly connected to a rotating shaft end of the driving wheel 14, the second motor 26 is fixedly connected to a side end of the swinging rod 13, an output end of the second motor 26 extends to the other end of the swinging rod 13, the driving gear 25 is fixedly connected to an output end of the second motor 26, and the driving gear 25 is meshed with the driven gear 24, and the gear cover 23 is sleeved on surfaces of the driven gear 24 and the driving gear 25.
In the present invention, the driven gear 24 is used to drive the driving wheel 14 to rotate, the second motor 26 is used to drive the driving gear 25 to rotate, the driving gear 25 drives the driven gear 24 to rotate through the engagement with the driven gear 24, the gear cover 23 is used to protect the driving gear 25 and the driven gear 24 from dust, when the machine body 1 needs to be moved, the driving wheels 14 are attached to the pipeline, the second motors 26 are started, the output ends of the second motors 26 drive the driving gears 25 to rotate, the driving gears 25 drive the driving wheels 14 to rotate through the engagement with the driven gears 24, and the driven gears 24 drive the machine body 1 to move in the pipeline through rotation.
In a preferred embodiment, the circumferential surface of the machine body 1 is provided with a plurality of accommodating grooves 20, the accommodating grooves 20 are rotatably connected with rotating shafts 18, one ends of the rotating shafts 18 extend to the side ends of the machine body 1, the extending ends of the rotating shafts 18 are fixedly connected with linkage rods 17, the side ends of the swinging rods 13 are rotatably connected with a plurality of auxiliary rods 16, and a plurality of auxiliary wheels 19 are rotatably connected between the auxiliary rods 16 and the linkage rods 17.
In the invention, the accommodating grooves 20 are formed to accommodate the rotating shafts 18, the rotating shafts 18 are used for supporting and fixing the linkage rods 17, the auxiliary rods 16 are used for pushing the auxiliary wheels 19 to move, the auxiliary rods 16 and the linkage rods 17 are used for supporting the auxiliary wheels 19, the auxiliary wheels 19 are close to the inner wall of the pipeline to assist and support the machine body 1, and when the distance of the driving wheels 14 is adjusted, the swinging rods 13 push the auxiliary rods 16 to move, so that the auxiliary rods 16 push the linkage rods 17 to rotate, and the auxiliary wheels 19 and the driving wheels 14 move in parallel, and the auxiliary wheels 19 are used for assisting and supporting the machine body 1 to avoid the inclination of the machine body 1 in the pipeline.
In a preferred embodiment, the deflection mechanism includes a rotating rod 27, a supporting rod 28, an electric push rod 29, a third motor 30 and a rotating wheel 31, the rotating rod 27 is rotatably connected to a side end of the machine body 1, the supporting rod 28 is rotatably connected to the side end of the rotating rod 27 through a hinge shaft, the third motor 30 is fixedly mounted to the side end of the supporting rod 28, an output end of the third motor 30 extends to the other end of the supporting rod 28, the rotating wheel 31 is fixedly connected to an output end of the third motor 30, the electric push rod 29 is fixedly connected to the side end of the machine body 1, and an output end of the electric push rod 29 is rotatably connected to the supporting rod 28.
In the invention, the rotating rod 27 is used for supporting the supporting rod 28, the supporting rod 28 is used for supporting and fixing the third motor 30, the third motor 30 is used for driving the rotating wheel 31 to rotate, the rotating wheel 31 drives the machine body 1 to rotate through joint rotation with the inner wall of the pipeline, the electric push rod 29 is used for driving the supporting rod 28 to rotate, when the machine body 1 needs to be deflected, the output end of the electric push rod 29 drives the supporting rod 28 to move, the supporting rod 28 drives the third motor 30 to move, the rotating wheel 31 is close to the inner wall of the pipeline, the third motor 30 is started, the output end of the third motor 30 drives the rotating wheel 31 to rotate, the rotating wheel 31 drives the machine body 1 to rotate in the pipeline, and the rotating wheel 31 deflects the pipeline detection robot through rotation, so that the plurality of driving wheels 14 and the auxiliary wheels 19 avoid broken positions or accumulated foreign matters.
A plurality of caulking grooves 2 are formed in the circumferential surface of the machine body 1, and a plurality of balancing weights 3 are detachably arranged in the caulking grooves 2.
In the invention, the plurality of caulking grooves 2 are formed to accommodate a plurality of balancing weights 3, and the plurality of balancing weights 3 are used for adjusting the weight of the machine body 1, so as to adapt to the balance of the gyroscope in the running module 35.
The side ends of the swinging rods 13 are fixedly connected with electromagnetic suction blocks 15, and an operation module 35 is arranged in the machine body 1.
In the invention, the plurality of electromagnetic suction blocks 15 are used for adsorbing and fixing the plurality of swinging rods 13 on the inner walls of the plurality of connecting rod grooves 5, the operation module 35 is assembled by purchasing electronic elements in the market according to actual requirements, an operation program is stored in the operation module 35, and the operation module 35 is electrically connected with the plurality of first motors 6, the plurality of second motors 26, the plurality of balancing weights 3 and the cameras 34 to realize the operation of the device.
The application method of the pipeline detection robot comprises the following steps:
s1, entering a pipeline:
the lifting hook hooks the two lifting blocks 32, performs lifting operation on the wellhead of the pipeline, vertically descends the pipeline detection robot to the depth of the pipeline to be detected, and pushes the pipeline detection robot to enable the pipeline detection robot to enter the pipeline;
s2, pipe diameter adaptation:
the pipeline detection robot is electrified and started, the operation module 35 is electrified and starts a pipe diameter adaptation program, the electromagnetic suction blocks 15 are electrified and release the locking of the swinging rods 13, the first motors 6 are started, the output ends of the first motors 6 drive the screw rods 7 to rotate, the screw rods 7 push the sliding blocks 8 through sliding fit with the sliding blocks 8, the sliding blocks 8 guide and move in sliding fit with the limiting grooves 11 at the limiting blocks 9, the sliding blocks 8 move to drive the connecting blocks 10, the connecting blocks 10 push the push-pull rods 12, the push-pull rods 12 push the swinging rods 13 out of the connecting rod grooves 5, the driving wheels 14 push out of the driving wheel grooves 22, the driving wheels 14 are close to the inner wall of the pipeline, the swinging rods 13 push the auxiliary rods 16 to move, the auxiliary wheels 19 push out of the auxiliary wheel grooves 21 through sliding fit with the sliding fit of the sliding blocks 8, the auxiliary wheels 19 and the driving wheels 14 support the pipeline detection robot body to enable the pipeline detection robot body to be in the inner diameter of the pipeline detection robot;
s3, moving forward:
when the pipeline detection robot is in the pipeline for moving, the plurality of second motors 26 are started, the plurality of second motors 26 drive the plurality of driving gears 25 to rotate, the plurality of driving gears 25 drive the plurality of driven gears 24 to rotate through meshing with the plurality of driven gears 24, so that the plurality of driven gears 24 drive the plurality of driving wheels 14 to rotate, and the plurality of driving wheels 14 drive the machine body 1 to move in the pipeline through rotation, thereby realizing the moving and advancing of the pipeline detection robot;
s4, obstacle bypass:
when the pipeline inspection robot and pipeline in-advance meet pipeline damage, observe the position of damage or pile up the foreign matter through camera 34, start electric putter 29, electric putter 29 promotes bracing piece 28, make rotor wheel 31 and pipeline inner wall laminating, start third motor 30, third motor 30 drives rotor wheel 31 and rotate, rotor wheel 31 deflects pipeline inspection robot through the rotation, make a plurality of drive wheels 14 and auxiliary wheel 19 avoid damage or pile up the foreign matter department, first motor 6 in the single adjustment mechanism of start simultaneously, make lead screw 7 and slider 8 sliding fit, rotate through connecting block 10 pulling swinging rod 13, make single drive wheel 14 be close to organism 1, start first motor 6 in the other multiunit adjustment mechanism simultaneously, through the sliding fit of a plurality of lead screws 7 and slider 8, a plurality of drive wheels 14 keep away from organism 1 in addition, then make organism 1 carry out the removal on the pipe diameter cross-section between a plurality of drive wheels 14, make organism 1 keep away from damage or pile up the foreign matter department, make things convenient for pipeline inspection robot to walk around when damage or pile up the foreign matter.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present invention, and the present invention is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present invention has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. A pipeline inspection robot, comprising;
a machine body (1);
the searchlight (33) is arranged in a plurality of searchlight (33), the searchlight (33) is fixedly connected to the side end of the machine body (1), a camera (34) is fixed to the side end of the machine body (1), and the camera (34) is located among the searchlight (33);
the deflection mechanism is arranged at the side end of the machine body (1) and used for deflecting the machine body (1);
the driving wheels (14) are arranged in a plurality, and the driving wheels (14) are circumferentially distributed on the circumferential outer surface of the machine body (1); and
the adjusting mechanism is provided with a plurality of groups, and the plurality of groups of adjusting mechanisms are connected with a plurality of driving wheels (14) and used for pushing the machine body (1) to move;
each group of the adjusting mechanism comprises a pushing component, a driving component and a connecting rod component, wherein the pushing component is arranged on the circumferential surface of the machine body (1), the connecting rod component is connected with the pushing component and the driving wheel (14), the driving component is arranged on the connecting rod component, and the driving component is connected with the driving wheel (14);
the pushing assembly comprises a pushing groove (4), a first motor (6), a screw rod (7), a sliding block (8), limiting blocks (9) and limiting grooves (11), wherein the pushing groove (4) is formed in the circumferential surface of the machine body (1), the first motor (6) is fixedly arranged between the inner walls of the machine body (1), the screw rod (7) is fixedly connected to the output end of the first motor (6), the screw rod (7) extends to the position between the inner walls of the pushing groove (4), the sliding block (8) is sleeved on the circumferential surface of the screw rod (7), two limiting grooves (11) are formed in the circumferential surface of the pushing groove (4), two limiting blocks (9) are arranged, the two limiting blocks (9) slide in the two limiting grooves (11), and the two limiting blocks (9) are connected with the sliding block (8).
The connecting rod assembly comprises a connecting rod groove (5), a connecting block (10), a push-pull rod (12), a swinging rod (13) and a driving wheel groove (22), wherein the connecting rod groove (5) is formed in the circumferential surface of the machine body (1), the connecting rod groove (5) is communicated with the pushing groove (4), the swinging rod (13) is rotationally connected between the inner walls of the connecting rod groove (5), the swinging rod (13) is rotationally connected with the driving wheel (14), the connecting block (10) is fixedly connected to the top of the sliding block (8), the push-pull rod (12) is arranged between the inner walls of the connecting rod groove (5), one end of the push-pull rod (12) is connected with the connecting block (10) through a hinge, the other end of the push-pull rod (12) is connected with the swinging rod (13) through the hinge, the driving wheel groove (22) is formed in the side end of the machine body (1), and the driving wheel groove (22) corresponds to the driving wheel (14).
The driving assembly comprises a gear cover (23), a driven gear (24), a driving gear (25) and a second motor (26), wherein the driven gear (24) is fixedly connected to the rotating shaft end of the driving wheel (14), the second motor (26) is fixedly connected to the side end of the swinging rod (13), the output end of the second motor (26) extends to the other end of the swinging rod (13), the driving gear (25) is fixedly connected to the output end of the second motor (26), the driving gear (25) is meshed with the driven gear (24), and the gear cover (23) is sleeved on the surfaces of the driven gear (24) and the driving gear (25);
a plurality of accommodating grooves (20) are formed in the circumferential surface of the machine body (1), rotating shafts (18) are rotatably connected in the accommodating grooves (20), one ends of the rotating shafts (18) extend to the side ends of the machine body (1), linkage rods (17) are fixedly connected to the extending ends of the rotating shafts (18), a plurality of auxiliary rods (16) are rotatably connected to the side ends of the swinging rods (13), and a plurality of auxiliary wheels (19) are rotatably connected between the auxiliary rods (16) and the linkage rods (17);
the deflection mechanism comprises a rotating rod (27), a supporting rod (28), an electric push rod (29), a third motor (30) and a rotating wheel (31), wherein the rotating rod (27) is rotationally connected to the side end of the machine body (1), the supporting rod (28) is rotationally connected to the side end of the rotating rod (27) through a hinge shaft, the third motor (30) is fixedly arranged at the side end of the supporting rod (28), the output end of the third motor (30) extends to the other end of the supporting rod (28), the rotating wheel (31) is fixedly connected to the output end of the third motor (30), the electric push rod (29) is fixedly connected to the side end of the machine body (1), and the output end of the electric push rod (29) is rotationally connected with the supporting rod (28).
2. The pipeline inspection robot according to claim 1, wherein a plurality of caulking grooves (2) are formed in the circumferential surface of the machine body (1), and a plurality of balancing weights (3) are detachably mounted in the plurality of caulking grooves (2).
3. A pipeline inspection robot according to claim 2, characterized in that the side ends of the swinging rods (13) are fixedly connected with electromagnetic suction blocks (15), and the machine body (1) is internally provided with an operation module (35).
4. A method of using a pipeline inspection robot as claimed in claim 3, comprising the steps of:
s1, entering a pipeline:
the lifting hook hooks the two lifting blocks (32), performs lifting operation on the wellhead of the pipeline, vertically descends the pipeline detection robot to the depth of the pipeline to be detected, and pushes the pipeline detection robot to enable the pipeline detection robot to enter the pipeline;
s2, pipe diameter adaptation:
the pipeline detection robot is electrified and started, the operation module (35) is electrified and starts a pipe diameter adaptation program, the plurality of electromagnetic suction blocks (15) are electrified and released to lock the plurality of swinging rods (13), the plurality of first motors (6) are started, the output ends of the plurality of first motors (6) drive the plurality of screw rods (7) to rotate, the plurality of screw rods (7) push the plurality of sliding blocks (8) through sliding fit with the plurality of sliding blocks (8), the plurality of sliding blocks (8) are guided and moved in sliding fit with the limiting grooves (11) at the plurality of limiting blocks (9), the plurality of sliding blocks (8) move to drive the plurality of connecting blocks (10), the plurality of connecting blocks (10) push the plurality of pushing rods (12), the plurality of swinging rods (13) push the plurality of swinging rods (13) out of the plurality of connecting rod grooves (5), the plurality of driving wheels (14) are pushed out of the plurality of driving wheel grooves (22) so that the plurality of driving wheels (14) are close to the inner walls of the pipeline, meanwhile, the plurality of swinging rods (13) push the plurality of auxiliary rods (16) to move in a sliding fit with the limiting grooves (11), the plurality of driving wheels (19) are pushed out of the auxiliary wheels (19) through the plurality of driving wheels (19) to enable the plurality of driving wheels (19) to be positioned in the inner diameter of the pipeline detection machine body (1), the pipeline detection robot is enabled to conduct pipe diameter adaptation on the pipeline;
s3, moving forward:
when the pipeline detection robot is in the pipeline for moving, the plurality of second motors (26) are started, the plurality of second motors (26) drive the plurality of driving gears (25) to rotate, the plurality of driving gears (25) drive the plurality of driven gears (24) to rotate through meshing with the plurality of driven gears (24), so that the plurality of driven gears (24) drive the plurality of driving wheels (14) to rotate, and the plurality of driving wheels (14) drive the machine body (1) to move in the pipeline through rotation, so that the pipeline detection robot can move forward;
s4, obstacle bypass:
when pipeline detection robot runs into pipeline damage with advancing in the pipeline, observe the position of damage or pile up the foreign matter through camera (34), start electric putter (29), electric putter (29) promote bracing piece (28), make rotor (31) and pipeline inner wall laminating, start third motor (30), rotor (31) are rotated in driving of third motor (30), rotor (31) are deflected pipeline detection robot through the rotation, make a plurality of drive wheels (14) and auxiliary wheel (19) avoid damage or pile up the foreign matter department, first motor (6) in the single group adjustment mechanism of start simultaneously, make lead screw (7) and slider (8) sliding fit, rotate through connecting block (10) pulling swinging arms (13), make single drive wheel (14) be close to organism (1), start first motor (6) in the multiunit adjustment mechanism simultaneously, through the sliding fit of a plurality of lead screws (7) and slider (8), a plurality of drive wheels (14) keep away from organism (1), then make organism (1) remove on the pipe diameter between a plurality of drive wheels (14) and keep away from the organism (1), make organism (1) and advance the damage or pile up the foreign matter when the damage or pile up the foreign matter on the pipeline detection device.
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