CN117905991A - Petroleum pipeline detection and cleaning robot - Google Patents

Abstract

The invention relates to the field of petroleum industry, in particular to a petroleum pipeline detection and cleaning robot. The device comprises a machine body, a monitoring system and a cleaning system: the body comprises a body and a motion system; the body comprises a front section body, a rear section body and a cross shaft universal joint, and is used for stabilizing a machine body structure; the motion system adopts a design of independent driving of wheels with three-foot center symmetry, and is used for the robot to move in the pipeline. The invention can adapt to different pipe diameters.

Description

Petroleum pipeline detection and cleaning robot

Technical Field

The invention relates to the field of petroleum industry, in particular to a petroleum pipeline detection and cleaning robot.

Background

In recent years, the development of the oil and gas industry is rapidly advanced under the drive of the economic development of China, the demand is continuously increased, and corrosive substances such as polymers, coke, greasy dirt, ash and scale, sediments and rust and the like adhered to the pipe wall can be generated in the petroleum pipeline conveying process, so that the production efficiency is reduced, the energy consumption is increased, and the petroleum conveying quality, efficiency and safety are seriously influenced. The conventional method for manually inspecting the pipeline has the defects of low efficiency, high omission rate, narrow working space and the like, which is a technical problem aiming at the petroleum pipeline, and various types of mobile robots and mechanisms are designed to solve the problem along with the progress of robot technology. Compared with the allocation of human workers in dangerous environments, the deployment of the inspection robot can save time and safely bear the responsibility, prevent the workers from bearing high risks of inspection tasks in oil pipelines and ensure the personal safety of the workers.

The existing petroleum pipeline robot is mainly divided into a detection robot or a cleaning robot, has a single function, is not efficient enough for cleaning a petroleum pipeline, and has the defects that the pipeline can be damaged after being cleaned in the traditional physical and chemical agent cleaning mode, so that the service life of the pipeline is shortened.

Therefore, it is needed to provide a petroleum pipeline detection cleaning robot, which solves the problem that pipeline detection and efficient cleaning work can be performed simultaneously, improves the pipeline cleaning efficiency, ensures the normal operation and safety of a pipeline transportation system, and ensures the service life of the petroleum pipeline at the same time, thereby improving the pipeline transportation efficiency.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a petroleum pipeline detection cleaning robot. The device comprises a machine body, a monitoring system and a cleaning system: the body comprises a body and a motion system; the body comprises a front section body, a rear section body and a cross shaft universal joint, and is used for stabilizing a machine body structure; the motion system adopts a design of independent driving of wheels with three-foot center symmetry and is used for the robot to move in the pipeline; the invention can adapt to different pipe diameters.

The technical scheme of the invention is as follows: the utility model provides a petroleum pipeline detects cleaning robot, includes pipeline self-adaptation device and fuselage, and the body of fuselage divide into anterior segment body and back end body, and pipeline self-adaptation device includes back train self-adaptation reducing system, front train initiative reducing system, and front train initiative reducing system sets up on the anterior segment body, and back train self-adaptation reducing system sets up on the back end body; the method is characterized in that: the front wheel train active reducing system comprises an active reducing module and a driving module; the active reducing module comprises an active reducing system distance sensor, a reducing system motor, a multi-stage bevel gear, a worm gear, a screw nut, a first self-adaptive transmission rod, a first body connecting wheel rod and a second body connecting wheel rod; the motor of the reducing system is connected with a multi-stage bevel gear, the multi-stage bevel gear is meshed with a worm gear and a worm gear, the worm gear and the worm gear are meshed with a screw nut, the screw nut is connected with one end of a first self-adaptive transmission rod, the other end of the first self-adaptive transmission rod is connected to the middle position of one of the first body connecting wheel rods, one ends of the first body connecting wheel rods and one end of the second body connecting wheel rods are rotatably connected to a front section body, the other end of the second body connecting wheel rod is connected with a driving wheel, and the middle parts of the two driving wheels are connected through a connecting wheel frame; the driving module comprises a driving wheel, an axial magnetic flux integrated hub motor and a connecting wheel frame; the driving wheel is connected with the axial magnetic flux integrated hub motor through a driving shaft; the axial magnetic flux integrated hub motor is arranged on the wheel shaft; the rear gear train self-adaptive reducing system comprises a reducing sliding block, a reducing spring, a reducing threaded shaft, a second self-adaptive transmission rod, a third machine body connecting rod and a transmission wheel, wherein the reducing threaded shaft is arranged on a rear section body, the reducing sliding block and the reducing spring are sleeved on the reducing threaded shaft, the reducing sliding block is connected to one side of the reducing spring, the upper end of the reducing sliding block is connected with one end of the second self-adaptive transmission rod, the other end of the second self-adaptive transmission rod is connected with the middle position of the third machine body connecting rod, one end of the third machine body connecting rod is directly connected with a transmission wheel shaft which is connected with the two transmission wheels, and the other end of the third machine body connecting rod is rotatably and movably connected with the rear section body.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the shock absorber is arranged on the second body connecting wheel rod and the third body connecting rod; the fuselage shells of the front section body and the rear section body are in an inverted triangle shape, and the front section body and the rear section body are connected through a universal joint coupler.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the front monitoring system comprises a panoramic wide-angle camera, a camera base, a camera glass cover, a camera auxiliary lamp and a front monitoring system cleaning device; the front monitoring system cleaning device is arranged around the panoramic wide-angle camera, and the camera base is arranged at the front end of the front section body and used for fixing the panoramic wide-angle camera at the front end of the front section body; the camera glass cover covers the front of the panoramic wide-angle camera; the camera auxiliary lamp is arranged on the surface of the camera base.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the front monitoring system cleaning device comprises a dust sensor, an eye closing device and a detergent spraying device, wherein the dust sensor is used for detecting the concentration of particles in the air; the eye closing device is used as a mechanical device for cleaning the camera glass cover; the detergent sprinkler is arranged above the panoramic wide-angle camera shell.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the eye closing device comprises a lower glass cover cap, an upper glass cover cap, an adhesive tape, a crank rocker mechanism and a multi-stage bevel gear of the eye closing device; the adhesive tape is used for directly contacting the camera glass cover; the lower glass cover and the upper glass cover are used for installing adhesive tapes and supporting the adhesive tapes to be directly contacted with the camera glass cover; the crank and rocker mechanism comprises a crank and rocker base, a crank and rocker mechanism gear, a crank, a rocker and a crank and rocker mechanism driving motor; the crank rocker base is arranged on the camera base and used for fixing the position of the crank rocker mechanism; the crank rocker mechanism driving motor is used for driving the crank rocker mechanism gear to rotate; the crank rocker mechanism gear is arranged on the crank rocker base, and the crank rotates around the axle center through the revolute pair; the crank is arranged on the crank rocker base and swings with the rocker through a moving pair; the rocker is connected with an axial key outside the lower glass cover cap and is used for directly driving the lower glass cover cap to swing; the eye closing device is arranged at the shaft parts of the lower glass cover and the upper glass cover and comprises a first bevel gear, a second bevel gear and a third bevel gear, wherein the first bevel gear is connected with the inner shaft key of the lower glass cover and is used for realizing the swing of the lower glass cover, the second bevel gear is used for changing the transmission direction of the first bevel gear, converting the vertical transmission into the transverse transmission, enabling the third bevel gear to rotate, and the third bevel gear is connected with the inner shaft key of the upper glass cover and is used for realizing the swing of the upper glass cover.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the device also comprises a detergent spraying device, wherein the detergent spraying device is arranged at one side of the eye closing device and comprises a washing device casing, a liquid storage tank, a solid cone-shaped wide-angle nozzle, a centrifugal vane pump, a permanent magnet direct current motor and a hose; the liquid storage tank is used for storing washing liquid; the centrifugal vane pump is used for conveying the washing liquid out of the liquid storage tank; the permanent magnet direct current motor is used for driving the centrifugal vane pump; the solid cone-shaped wide-angle nozzle is used for realizing higher coverage effect and better uniformity; the hose is used for conveying the detergent conveyed by the centrifugal vane pump to the solid cone-shaped wide-angle nozzle; the washing device casing is used for placing a liquid storage tank, a centrifugal vane pump and a permanent magnet direct current motor.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the system also comprises a dry ice cleaning system, wherein the dry ice cleaning system comprises a dry ice conveying pipeline, a dry ice spraying pipeline, a dry ice rotating base and a dry ice rotating base driving motor; the dry ice conveying pipeline is used for conveying dry ice particles in the external dry ice granulator to the dry ice rotating base; the dry ice spraying pipeline is used for spraying dry ice particles onto the pipe wall; the dry ice rotating base is used for enabling dry ice particles to fully cover the pipeline for one circle at 360 degrees; the dry ice rotating base driving motor is used for driving the dry ice rotating base to rotate.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the device also comprises a rotary brush device, wherein the rotary brush device comprises a brush head, a brush rod self-adaptive spring device, a rotary brush system rotary base, a rotary brush wheel driving motor and a brush head driving motor; the brush head is used for directly contacting with the pipe wall; the brush rod self-adaptive spring device comprises a first section of brush rod, a second section of brush rod and a spring, wherein the second section of brush rod is fixed on a rotating base of the rotating brush system, the spring is arranged inside the second section of brush rod, and the pipe diameter of the first section of brush rod is smaller than that of the second section of brush rod, so that the first section of brush rod is conveniently compressed into the second section of brush rod in an environment in which the pipe diameter needs to be changed; the rotary brush system is used for rotating the base, and the brush rod self-adaptive spring device is used for brushing the pipeline in a whole circle; the rotary brush wheel driving motor is used for driving the rotary brush system to rotate the rotary base; the rotary brush wheel driving motor is used for driving the brush head to rotate.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: further comprising a dirt evacuation system; the dirt discharging system comprises a suction nozzle, a suction nozzle pipeline, a suction motor, a mechanical arm motor, a dirt discharging system distance sensor and a triaxial mechanical arm; the suction nozzle is arranged at the bottommost end of the dirt discharging system and is used for sucking dirt and debris on the lower surface of the pipeline; the suction nozzle pipeline is used for conveying dirt and debris sucked out by the suction nozzle; the suction motor is used for manufacturing vacuum; the mechanical arm motor is arranged at the joint of each shaft of the triaxial mechanical arm; the dirt removing system distance sensor is arranged beside the suction nozzle and is used for sending out a distance difference signal of the measuring pipe wall and the dirt removing system distance sensor.

According to the petroleum pipeline detection cleaning robot, the petroleum pipeline detection cleaning robot is characterized in that: the system also comprises a rear detection system, wherein the rear detection system comprises an infrared night vision pipeline defect detector and a rear detection system motor; the infrared night vision pipeline defect detector comprises a swinging frame, a rotating bracket, a gear shaft and a detector body; the gear shaft is used for transmitting the torsion force of the motor of the rear detection system; the rotary support is used for driving the swing frame to swing; the detector body is used for detecting various corrosion conditions and pipeline defects caused by long-term use of the pipeline; the swing frame is used for driving the detector body to rotate; the rear detection system motor is used for transmitting torsional force to enable the infrared night vision pipeline defect detector to detect in all directions.

The beneficial effects of the invention are as follows: the invention can realize the simultaneous detection and cleaning of the petroleum pipeline, improve the working efficiency, clean the petroleum pipeline by adopting dry ice and prolong the service life of the petroleum pipeline. The invention can adapt to different pipe diameters. The front wheel driving mode in the petroleum pipeline is not easy to generate the phenomenon that the wheels are clamped, and the movement of the robot is not easy to be blocked.

Drawings

Fig. 1 is a front view of a petroleum pipeline inspection cleaning robot.

Fig. 2 is a right side view of the petroleum pipeline inspection cleaning robot.

Fig. 3 is a left side view of the petroleum pipeline inspection cleaning robot.

Fig. 4 is a schematic view of an embodiment of an eye closure device.

Fig. 5 is a schematic view of the structure of an embodiment of the detergent spraying device.

Fig. 6 is a diagram showing the distribution and mechanism of the front and rear wheel trains.

Fig. 7 is a schematic diagram of a partial structure of an active reducing module.

Fig. 8 is another partial schematic structure of the active reducing module.

Fig. 9 is a schematic diagram of a partial structure of a driving module.

Fig. 10 is a schematic diagram of a partial structure of a rear wheel adaptive reducing system.

Fig. 11 is a schematic view of a portion of a dry ice cleaning system.

Fig. 12 is a schematic view of another partial structure of the dry ice cleaning system.

Fig. 13 is a partial schematic view of a rotary brush system.

Fig. 14 is another partial schematic view of a rotating brush system.

Fig. 15 is a schematic partial structure of the dirt discharging system.

FIG. 16 is a schematic partial structure of the rear detection system.

Fig. 17 is a schematic partial structure of the spring adapting device.

Fig. 18 is a schematic perspective view of the present invention.

Fig. 19 is a schematic view of another perspective view of the present invention.

Reference numerals illustrate: the cleaning machine comprises a machine body 1, a monitoring system 2, a cleaning system 3, a body 4, a moving system 5, a front monitoring system 6, a rear detection system 7, a dry ice cleaning system 8, a rotary brush device 9, a dirt discharge system 10, a front section body 11, a rear section body 12, a front gear train driving reducing system 13, a rear gear train self-adaptive reducing system 14, a panoramic wide angle camera 15, a camera base 16, a camera auxiliary lamp 17, a camera glass cover 18, a front monitoring system cleaning device 20, an infrared night vision pipeline defect detector 22, a rear detection system motor 23, a dry ice conveying pipeline 25, a dry ice spraying pipeline 26, a dry ice rotary base 27, a dry ice rotary base driving motor 28, a brush head 29, a rotary brush system rotary base 30, a brush head driving motor 31, a rotary brush wheel driving motor 32, a brush rod self-adaptive spring device, a suction nozzle 34, a suction nozzle pipeline 35, a suction motor 36; mechanical arm motor 37, dirt removal system distance sensor 38, triaxial mechanical arm 39, drive module 46, active diameter changing module 47, diameter changing slider 48, diameter changing spring 49, diameter changing threaded shaft 50, dust sensor 51, eye closing device 52, detergent spraying device 53, first-section brush bar 54, spring 55, drive wheel 56, axial magnetic flux integrated hub motor 57, damper 58, active diameter changing system distance sensor 59, diameter changing system motor 60, multistage bevel gear 61, worm gear 62, screw nut 63, lower glass cover 64, adhesive tape 65, crank rocker mechanism 66, eye closing device multistage bevel gear 67, washing device housing 68, liquid tank 69, solid cone-shaped wide angle nozzle 70, centrifugal vane pump 71, permanent magnet direct current motor 72, hose 73, swing frame 74, rotating bracket 75, gear shaft 76, detector body 77, and method of manufacturing the same, crank rocker base 78, crank rocker mechanism gear 79, crank 80, rocker 81, crank rocker mechanism drive motor 82, jet 83, first adaptive drive link 84, first fuselage fifth wheel 85, second fuselage fifth wheel 86, second adaptive drive link 87, third fuselage connecting rod 88, drive wheel 89, wheel carrier 90, universal joint coupler 91, first bevel gear 92, second bevel gear 93, third bevel gear 94, upper glass cover 95, second section brush bar 96.

Detailed Description

The following detailed description of preferred embodiments of the application is made in connection with the accompanying drawings, which form a part hereof, and together with the description of the embodiments of the application, are used to explain the principles of the application and are not intended to limit the scope of the application.

The embodiment of the invention provides a petroleum pipeline detection and cleaning robot, and fig. 1 is a schematic structural diagram of the petroleum pipeline detection and cleaning robot.

As shown in fig. 1, the robot comprises a body 1, a monitoring system 2 and a cleaning system 3. The fuselage 1 comprises a body 4 and a movement system 5; the body 4 is divided into a front section body 11 and a rear section body 12, and the fuselage shells of the front section body 11 and the rear section body 12 are respectively designed in an inverted triangle shape for stabilizing the fuselage structure; the motion system 5 adopts a three-foot center-symmetrical wheel independent driving design for the robot to move in the pipeline. The monitoring systems 2 are arranged at the front end and the rear end of the body 4, and the monitoring systems 2 comprise a front monitoring system 6 and a rear detection system 7; the front monitoring system 6 is used for synchronizing the dirty condition of the tube wall which is not cleaned to a remote control end (not shown in the figure) in real time; the post-detection system 7 is used for detecting various corrosion conditions and pipeline defects caused by long-term use of the pipeline and feeding back to a host (not shown in the figure); the front monitoring system 6 is disposed at the front of the front section body 11, and the rear detection system 7 is disposed at the rear of the rear section body 12. The cleaning system 3 comprises a dry ice cleaning system 8, a rotating brush arrangement 9 and a dirt evacuation system 10. The dry ice cleaning system 8 is arranged at the rear part of the front monitoring system 6, the rotary brush device 9 is arranged at the front part of the rear section body 12, and the dirt discharging system 10 is arranged at the rear part of the rear section body 12. The dry ice cleaning system 8 is used for spraying dry ice particles to the inner wall of the pipeline to enable oil dirt on the pipe wall to be coagulated and self-peeled; the rotary brush device 9 is used for brushing off the oil dirt clot which is not self-peeled off; the dirt discharge system 10 serves to suck out dirt and debris collected on the lower surface of the pipe. The front section body 11 and the rear section body 12 are connected through a universal joint coupling 91, the dry ice cleaning system 8 is arranged on the front section body 11, and the rotary brush device 9 and the dirt discharging system 10 are arranged on the rear section body 12.

As shown in fig. 2,3 and 6, in order to adapt to various complex pipeline environments, the invention also provides a pipeline self-adapting device, namely a motion system 5, wherein the pipeline self-adapting device comprises a rear gear train self-adapting reducing system 14 and a front gear train active reducing system 13, the front gear train active reducing system 13 is arranged on a front section body 11, and the rear gear train self-adapting reducing system 14 is arranged on a rear section body 12. The front wheel train active reducing system 13 comprises an active reducing module 47 and a driving module 46; the front gear train active reducing system 13 comprises six pairs of double wheels (three gear trains) and is controlled by one active reducing module 47 in a centralized way, the rear gear train adaptive reducing system 14 is arranged on the rear section body 12 and comprises 3 pairs of double wheels (three gear trains) and is controlled by one rear gear train adaptive device in a centralized way, and the front gear train and the rear gear train are distributed in a central symmetry mode.

As shown in fig. 7 and 8, the active reducing module 47 provided by the present invention is a specific structural schematic diagram. The active reducing module 47 includes an active reducing system distance sensor 59, a reducing system motor 60, a multi-stage bevel gear 61, a worm gear 62, a lead screw nut 63, a first adaptive drive rod 84, a first fuselage fifth wheel bar 85, and a second fuselage fifth wheel bar 86. The reducing system motor 60 is connected with a multi-stage bevel gear 61, the multi-stage bevel gear 61 is meshed with a worm gear 62, and the worm gear 62 is meshed with a screw nut 63, so that the screw nut 63 moves linearly. The screw nut 63 is connected with one end of the first self-adaptive transmission rod 84, the other section of the first self-adaptive transmission rod 84 is connected to the middle position of the first body connecting wheel rod 85, one end of the first body connecting wheel rod 85 and one end of the second body connecting wheel rod 86 are rotatably connected to the front section body 11, the other end of the first body connecting wheel rod and one end of the second body connecting wheel rod are connected with the driving wheels 56, and the two driving wheels 56 are connected through the connecting wheel frame 90, so that the first body connecting wheel rod 85 and the second body connecting wheel rod 86 can control the change of the inclination angle of the first body connecting wheel rod and the front section body 11 through the length change of the screw nut 63, and the change of the circumference diameter of the whole robot device is realized, and the circumference diameter of the whole robot device is suitable for different pipe diameters. The active reducing system distance sensor 59 is arranged at the bottommost end of the front section body (not shown in the figure because the shell is hidden) and is used for sending out a distance difference signal between the measuring tube wall and the distance sensor; a reducing system motor 60 for realizing transmission of a multi-stage bevel gear 61; a multi-stage bevel gear 61 for realizing transmission to a worm gear 62; the worm gear 62 is used for enabling the screw nut 63 to do linear motion; the screw nut 63 is connected with a first self-adaptive transmission rod 84, the first self-adaptive transmission rod 84 drives the first body connecting wheel rod 85 to move back and forth, and the connecting wheel frame 90 connects all parts, so that the second body connecting wheel rod 86 is also driven, and the whole front wheel train active reducing system 13 realizes active reducing so as to achieve the purpose of adapting to pipelines with different pipe diameters.

As shown in fig. 9, the present invention provides a specific structure of the driving module 46. The drive module 46 includes a drive wheel 56, an axial flux integrated in-wheel motor 57, a carrier 90, and a damper 58. The driving wheel 56 is connected to an axial-flux integrated hub motor 57 via a driving shaft, and a damper 58 is provided on a link on the front side of the axial-flux integrated hub motor 57. The drive wheel 56 is adapted to be in direct contact with the pipe wall; the axial magnetic flux integrated hub motors 57 are arranged on the wheel shafts and used for realizing the operation of the driving wheels 56, and each group of axial magnetic flux integrated motors 57 can synchronously rotate forward and backward so as to facilitate the forward and backward movement of the robot; a wheel carrier 90 for connecting the parts to form a wheel train; and the damper 58 is used for suppressing the vibration and the impact from the pipe wall when the spring bounces after absorbing the vibration.

The following describes the specific operation of the front wheel train active reducing system 13 with reference to fig. 7, 8 and 9: the driving wheel 56 is operated by controlling the axial magnetic flux integrated hub motor 57, and the vibration and impact from the tube wall during rebound after spring vibration absorption are restrained by the shock absorber 58, the front wheel system can independently control the speed, the space steering moment is generated between the wheel systems in a differential operation mode, so that the effects of in-tube rotation and tube bending passing are achieved, then when the air enters into pipelines with different tube diameters, a reducing system distance sensor 59 sends a signal to a remote control end, the reducing system motor 60 is controlled to realize the rotation of the multi-stage bevel gear 61, the worm gear 62 is realized, the lead screw nut 63 is in linear motion, the lead screw nut 63 is connected with the first self-adaptive transmission rod 84, namely the first self-adaptive transmission rod 84 moves linearly along with the lead screw nut 63, the first self-adaptive transmission rod 84 drives the first body connecting wheel rod 85 to move forwards and backwards, and the parts are connected by the connecting wheel carrier 90, so that the second body wheel rod 86 is also driven, and the whole front driving reducing system 13 realizes driving reducing. Compared with the turbine worm regulation and the elevator regulation, the elevator has the advantages that the output torque born by the motor is too large, the motor requirement is high, the motor is not easy to realize, the ball screw nut adopted by the robot is regulated in a plurality of transmission mechanism modes, the force transmission direction is changed, the motor load is reduced, and the aim of adapting to different pipe diameters is fulfilled.

As a specific embodiment, as shown in fig. 6 and 10, the present invention provides a specific structural schematic diagram of the rear wheel train adaptive reducing system 14. The rear wheel train self-adaptive reducing system 14 comprises a reducing sliding block 48, a reducing spring 49, a reducing threaded shaft 50, a second self-adaptive transmission rod 87, a third machine body connecting rod 88, a transmission wheel 89 and a shock absorber 58, and the rear wheel train self-adaptive reducing system 14 is used for supporting the rear section body 12 without axial deviation and adapting to pipelines with different pipe diameters. The reducing threaded shaft 50 is arranged on the rear section body 12, the reducing sliding block 48 and the reducing spring 49 are sleeved on the reducing threaded shaft 50, the reducing sliding block 48 is connected to one side of the reducing spring 49, the upper end of the reducing sliding block 48 is connected with one end of a second self-adaptive transmission rod 87, the other end of the second self-adaptive transmission rod 87 is connected with the middle position of a third machine body connecting rod 88, one end of the third machine body connecting rod 88 is directly connected with a transmission wheel shaft which is used for connecting two transmission wheels 89, and the other end of the third machine body connecting rod 88 is rotatably and movably connected with the rear section body 12.

The implementation process is described with reference to fig. 3, 6 and 10: the reducing spring 49 can enable the reducing slide block 48 to be in maximum movement limit all the time, so that the tire is tightly attached to the pipe wall, when the external pressure is too large, the reducing spring 49 is compressed to enable the reducing slide block 48 to do linear movement, the reducing slide block 48 drives the second self-adaptive transmission rod 87 to move back and forth, meanwhile, the second self-adaptive transmission rod 87 drives the third machine body connecting rod 88 to move, and accordingly the whole rear wheel train self-adaptive reducing system 14 is driven to do self-adaptive reducing movement, adaptation to different pipe diameters is achieved through elastic elements, and real-time adjusting performance is achieved.

The following description is made in connection with simultaneous operation of the front and rear trains: in order to prevent the robot from being insufficient in power and solve the problem of body support, the robot operates in a front wheel driving mode, differential driving control is adopted, a control end controls the direction and turning of the robot by adjusting the speed difference of three pairs of wheels, the front section body 11 of the robot is driven to move in a designated direction, two pairs of wheels are arranged in a front wheel train in order to provide sufficient driving force, and the front section body 11 and the rear section body 12 are connected through a universal joint coupler 91, so that the rear section body is also driven. The driving mode has the advantages of simplicity, compact structure, proper price and the like, the driving motor is not required to be installed on the rear wheel, driving force is saved, power output loss is small, and compared with the Mecanum wheel driving and the omni-wheel driving, the front wheel driving mode in the petroleum pipeline is not easy to generate the phenomenon that the wheels are clamped in combination with specific task requirements and application scenes of the robot, and the movement of the robot is not easy to be blocked.

As shown in fig. 2, 4 and 5, the front monitoring system 6 includes a panoramic wide angle camera 15, a camera base 16, a camera glass cover 18, a camera auxiliary lamp 17 and a front monitoring system cleaning device 20. The camera base 16 is arranged at the front end of the front section body and is used for fixing the panoramic wide-angle camera 15 at the front end of the front section body 11; the panoramic wide-angle camera 15 is used for shooting dirt on the tube wall which is not cleaned; the camera glass cover 18 covers the front of the panoramic wide-angle camera 15, so that the front monitoring system cleaning device 20 can be cleaned conveniently; a camera auxiliary lamp 17 is provided on the surface of the camera base 16 for illuminating the front of the pipe where the robot is located.

The front monitoring system washing device 20 is provided at the front of the front stage body 11, and the front monitoring system washing device 20 includes a dust sensor 51, an eye closing device 52, and a detergent spraying device 53. The front monitoring system cleaning device 20 is arranged around the panoramic wide-angle camera 15, and the dust sensor 51 is used for detecting the concentration of particles in the air; eye closure device 52 acts as a mechanical device for cleaning the camera glass cover; a detergent spraying device 53 is provided above the camera housing for spraying a detergent required for cleaning the camera glass cover.

As a specific example, as shown in fig. 4, a specific structural schematic of eye closure device 52, eye closure device 52 includes a lower glass cover cap 64, an upper glass cover cap 95, a glue strip 65, a crank-rocker mechanism 66, and an eye closure device multi-stage bevel gear 67; the adhesive tape 65 is used for directly contacting the camera glass cover 18; the lower and upper glass cover covers 64 and 95 are used to mount the glue strip 65 and support it in direct contact with the camera glass cover 18; the crank and rocker mechanism 66 includes a crank and rocker base 78, a crank and rocker mechanism gear 79, a crank 80, a rocker 81, and a crank and rocker mechanism drive motor 82; the crank-rocker base 78 is arranged on the camera base 16 and is used for fixing the position of the crank-rocker mechanism 66; the crank-rocker mechanism driving motor 82 is used for driving the crank-rocker mechanism gear 79 to rotate; the crank-rocker mechanism gear 79 is arranged on the crank-rocker base 78, and the crank 80 rotates around the axis through the revolute pair; the crank 80 is arranged on the crank rocker base 78 and swings the rocker 81 with the rocker 81 through a moving pair; the rocking bar 81 is connected with an axial key outside the lower glass cover 64 and is used for directly driving the lower glass cover 64 to swing; the eye closing device multistage bevel gear 67 is arranged at the shaft positions of the lower glass cover 64 and the upper glass cover 95 and comprises a first bevel gear 92, a second bevel gear 93 and a third bevel gear 94, wherein the first bevel gear 92 is connected with the inner shaft key of the lower glass cover 64 and is used for realizing the swinging of the lower glass cover 64, the second bevel gear is used for changing the transmission direction of the first bevel gear, converting the vertical transmission into the horizontal transmission, enabling the third bevel gear to rotate, and the third bevel gear 94 is connected with the inner shaft key of the upper glass cover 95 and is used for realizing the swinging of the upper glass cover 95, so that the upper glass cover and the lower glass cover swing simultaneously and the closing action of the upper glass cover and the lower glass cover are realized.

The operation of eye closure device 52 is described in detail below: the crank-rocker mechanism drive motor 82 drives the crank-rocker mechanism gear 79 to rotate, the crank-rocker mechanism gear 79 rotates the crank 80 around the axis through the revolute pair, and the rocker 81 swings through the revolute pair, the rocker 81 directly drives the rocker 81 to swing through the internal shaft key connection with the lower glass cover 64, the first bevel gear transmits driving force to the second bevel gear due to the rotation of the shaft, the second bevel gear transmits driving force to the third bevel gear, the driving direction is changed, and the rocker is driven to swing through the key connection of the third bevel gear and the internal shaft of the upper glass cover 95, so that the upper glass cover and the lower glass cover are simultaneously closed.

As a specific example, as shown in fig. 4 and 5, the present invention further includes a detergent sprayer 53, and the detergent sprayer 53 is disposed at one side of the eye closure device 52. The detergent sprayer 53 includes a washer housing 68, a reservoir 69, a solid cone wide angle nozzle 70, a centrifugal vane pump 71, a permanent magnet DC motor 72, and a hose 73. A liquid storage tank 69 for storing a washing liquid; the centrifugal vane pump 71 is used for conveying the washing liquid out of the liquid storage tank 69; the permanent magnet direct current motor 72 is used for driving the centrifugal vane pump 71; the solid cone-shaped wide-angle nozzle 70 is used for realizing higher coverage effect and better uniformity; the hose 73 is used for conveying the detergent conveyed by the centrifugal vane pump 71 to the solid cone-shaped wide-angle nozzle 70; the washing device housing 68 is used for accommodating a liquid storage tank 69, a centrifugal vane pump 71 and a permanent magnet direct current motor 72.

The specific working process of the cleaning device for the front monitoring system is described with reference to fig. 2, 4 and 5: the dust sensor 51 detects particles in the surrounding environment of the front monitoring system 6, when a certain concentration is reached, the operation desk controls the permanent magnet direct current motor 72 to drive the centrifugal vane pump 71 to convey washing liquid from the liquid storage tank 69, the washing liquid is conveyed to the solid conical wide-angle nozzle 70 through the hose 73, the washing liquid is sprayed out in a spray shape and uniformly covers the camera glass cover, then the crank-rocker mechanism driving motor 82 drives the crank-rocker mechanism gear 79 to rotate, the crank 80 drives the rocker 81 to rotate, thereby driving the lower glass cover 64 to swing, the eye closing device drives the multi-stage bevel gear 79 to enable the lower glass cover 64 to swing simultaneously, the closing action is realized, the inner adhesive tape 65 is tightly attached to the camera glass cover, the purpose of the monitoring system 6 before cleaning is achieved, and the quick return characteristic of the adopted crank-rocker mechanism 66 can shorten the operation period of the cover and reduce the visual field blank time.

As a specific example, as shown in fig. 11 and 12, a specific structure of the dry ice cleaning system 8 of the present invention is schematically shown. The dry ice cleaning system 8 includes a dry ice conveying pipe 25, a dry ice blasting pipe 26, a dry ice swivel base 27, and a dry ice swivel base drive motor 28. A dry ice transfer pipe 25 for transferring dry ice particles in the external dry ice granulator to a dry ice storage space of the dry ice swivel base 27; the dry ice blasting pipe 26 is used for blasting dry ice particles onto the pipe wall; the dry ice rotating base 27 is used for enabling dry ice particles to fully cover the pipeline for one circle in 360 degrees; the dry ice rotary base driving motor 28 is used for driving the dry ice rotary base to rotate. The specific implementation process is as follows: the dry ice particles are conveyed to the dry ice storage position of the dry ice rotating base 27 through the dry ice conveying pipeline 25 by an external dry ice granulator, and then the dry ice particles are matched with the dry ice rotating base 27 in a gear transmission mode by the air jet 83, so that the dry ice particles are ejected at a high speed, air flows are ejected to the inner surface of the pipeline, when the ejected dry ice particles encounter pollutants such as dirt and oil stain by utilizing momentum change, sublimation, melting and the like of the solid dry ice particles moving at a high speed, the pollutants attached to the pipeline wall are quickly frozen, the pipeline surface is contracted due to cold, embrittlement and stripping of the pollutants are achieved, the pollutants fall onto the lower surface of the pipeline in a concentrated mode, the pollutants volatilize together with melting and volatilizing of carbon dioxide components of the dry ice particles, secondary pollution to the pipeline is avoided, and primary cleaning of the pipeline is achieved.

As a specific example, as shown in fig. 13, 14 and 17, a specific structure of the rotary brush device 9 of the present invention is schematically shown. The rotary brush device 9 comprises a brush head 29, a brush bar adaptive spring device 33, a rotary brush system rotary base 30, a rotary brush wheel drive motor 32 and a brush head drive motor 31. The brush head 29 is used for directly contacting with the pipe wall; the brush rod self-adaptive spring device 33 comprises a first section of brush rod 54, a second section of brush rod 96 and a spring 55, wherein the second section of brush rod 96 is fixed on the rotating base 30 of the rotating brush system, the spring 55 is arranged in the second section of brush rod, the pipe diameter of the first section of brush rod 54 is smaller than that of the second section of brush rod 96, and the first section of brush rod 54 is conveniently compressed into the second section of brush rod in the environment that the pipe diameter needs to be changed, so that the brush rod self-adaptive spring device is suitable for pipelines with different pipe diameters. A rotating brush rotating base 30 for brushing the brush bar self-adapting spring means 33 for a complete revolution of the pipe; the rotary brush wheel driving motor 32 for driving the rotary brush rotary base 30 to rotate; the brush head driving motor 32 is used for driving the brush head 29 to rotate.

The specific implementation process is as follows: the brush head 29 is driven by the brush head driving motor 31 to realize self-rotation, and the rotating brush system rotating base 30 is driven by gear transmission, so that the rotating brush system rotating base 30 rotates 360 degrees, the pipe wall cleaning rate is greatly improved due to the simultaneous rotation of the two parts, and the working efficiency of the robot cleaning system is improved. When the pipe diameter of the pipe is reduced, the first section brush rod 54 is contracted inwards to the second section brush rod 96 due to the pressure of the pipe wall; when the pipe diameter becomes large, the spring 55 provides elastic force to extend the first section brush rod 54 outwards.

As a specific example, a schematic view of the specific construction of the soil removal system 10 of the present invention is shown in fig. 15. The dirt discharge system 10 includes a suction nozzle 34, a suction nozzle duct 35, a suction motor 36, a robot arm motor 37, a dirt discharge system distance sensor 38, a three-axis robot arm 39, and a discharge duct (an external discharge duct is connected to the main body, not shown in the drawing). A suction nozzle 34 is provided at the lowermost end of the dirt discharge system 10 for sucking out dirt and debris from the lower surface of the duct; the suction nozzle duct 35 for transporting dirt and debris sucked out by the suction nozzle 34; the suction motor 36 is used for manufacturing vacuum, and the vacuum performance parameter of the suction motor 36 directly influences the suction force of the suction nozzle; the mechanical arm motor 37 is arranged at the joint of each shaft of the triaxial mechanical arm 39 and is used for driving the mechanical arm to operate; the dirt removing system distance sensor 38 is arranged beside the suction nozzle 34 and is used for sending out a distance difference signal between the measuring pipe wall and the distance sensor 38; the triaxial mechanical arm 39 is used for controlling the suction nozzle to lift so as to achieve the purpose of adapting to different pipe diameters. The specific implementation process is as follows: the above parts are matched to realize operation, the mechanical arm motor 37 is controlled to operate simultaneously by transmitting signals through the distance sensor 38 of the dirt discharging system, the suction nozzle 34 is controlled to lift and fall through the three-shaft mechanical arm 39, so that the distance between the suction nozzle 34 and the pipe wall is always kept constant, and meanwhile, the dirt discharging system 10 sucks in dirt and debris collected on the lower surface of the pipeline and discharges the dirt and debris out of the machine from the pipe connected with the suction nozzle 34.

As a specific example, as shown in fig. 16, a specific structure of the post-detection system 7 of the present invention is schematically shown. The post-inspection system 7 includes an infrared night vision tube wall defect detector 22, a post-inspection system motor 23, and a host. The host computer is arranged at the operation desk and is used for receiving various signals and information of the robot. Infrared night vision tube wall defect detector 22 includes swing frame 74, swivel mount 75, gear shaft 76, and detector body 77; a gear shaft 76 for transmitting the torsional force of the rear detection system motor 23; the rotating bracket 75 is used for driving the swinging frame 74 to swing; the detector body 77 is used for detecting various corrosion conditions and pipe defects caused by long-term use of the pipe; the swinging frame 74 is used for driving the detector body 77 to rotate, so as to realize omnibearing detection of the detector body 77. The rear detection system motor 23 is used for transmitting torsion force to enable the infrared night vision tube wall defect detector 22 to detect in all directions. The specific implementation process is as follows: the rear detection system motor 23 is in gear transmission and transmits torsion force through the gear shaft 76, and the swinging frame 74 is driven to swing through the rotating bracket 75, so that the detector body 77 is driven to rotate, the infrared night vision tube wall defect detector 22 works on the principle that a motor drives a transmission rod to rotate, and then the transmission rod is connected with a detection camera through a chassis with a 30-degree deflection angle with an X axis, 360-degree dead angle-free detection is realized, and the detection efficiency is improved.

The working flow of the petroleum pipeline detection and cleaning robot is as follows: the robot enters the pipeline, the front monitoring system 6 synchronizes the photographed working picture to the remote control end in real time, the dry ice cleaning system 8 sprays dry ice particles on the pipeline wall at high speed, oil dirt on the pipeline wall is enabled to be rapidly solidified and self-flaked, preliminary cleaning of the pipeline wall is achieved, the rotating brush device 9 brushes off oil dirt clots which are possibly still on the pipeline wall after dry ice cleaning and are not self-flaked, further cleaning of the pipeline wall is achieved, immediately, the dirt discharging system 10 sucks dirt and debris collected on the lower surface of the pipeline, the dirt and debris are discharged to the outside through the discharging pipeline, deep cleaning of the pipeline is achieved, meanwhile, the post detection system 7 feeds back the defect condition in the cleaned pipeline to the host computer, workers can conveniently arrange subsequent pipeline maintenance work, and efficient detection cleaning of the pipeline by the robot is guaranteed.

The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention.

Claims (10)

1. The utility model provides a petroleum pipeline detects cleaning robot, includes pipeline self-adaptation device and fuselage, and the body of fuselage divide into anterior segment body and back end body, and pipeline self-adaptation device includes back train self-adaptation reducing system, front train initiative reducing system, and front train initiative reducing system sets up on the anterior segment body, and back train self-adaptation reducing system sets up on the back end body; the method is characterized in that: the front wheel train active reducing system comprises an active reducing module and a driving module; the active reducing module comprises an active reducing system distance sensor, a reducing system motor, a multi-stage bevel gear, a worm gear, a screw nut, a first self-adaptive transmission rod, a first body connecting wheel rod and a second body connecting wheel rod; the motor of the reducing system is connected with a multi-stage bevel gear, the multi-stage bevel gear is meshed with a worm gear and a worm gear, the worm gear and the worm gear are meshed with a screw nut, the screw nut is connected with one end of a first self-adaptive transmission rod, the other end of the first self-adaptive transmission rod is connected to the middle position of one of the first body connecting wheel rods, one ends of the first body connecting wheel rods and one end of the second body connecting wheel rods are rotatably connected to a front section body, the other end of the second body connecting wheel rod is connected with a driving wheel, and the middle parts of the two driving wheels are connected through a connecting wheel frame; the driving module comprises a driving wheel, an axial magnetic flux integrated hub motor and a connecting wheel frame; the driving wheel is connected with the axial magnetic flux integrated hub motor through a driving shaft; the axial magnetic flux integrated hub motor is arranged on the wheel shaft; the rear gear train self-adaptive reducing system comprises a reducing sliding block, a reducing spring, a reducing threaded shaft, a second self-adaptive transmission rod, a third machine body connecting rod and a transmission wheel, wherein the reducing threaded shaft is arranged on a rear section body, the reducing sliding block and the reducing spring are sleeved on the reducing threaded shaft, the reducing sliding block is connected to one side of the reducing spring, the upper end of the reducing sliding block is connected with one end of the second self-adaptive transmission rod, the other end of the second self-adaptive transmission rod is connected with the middle position of the third machine body connecting rod, one end of the third machine body connecting rod is directly connected with a transmission wheel shaft which is connected with the two transmission wheels, and the other end of the third machine body connecting rod is rotatably and movably connected with the rear section body.

2. The petroleum pipeline inspection cleaning robot of claim 1, wherein: the shock absorber is arranged on the second body connecting wheel rod and the third body connecting rod; the fuselage shells of the front section body and the rear section body are in an inverted triangle shape, and the front section body and the rear section body are connected through a universal joint coupler.

3. The petroleum pipeline inspection cleaning robot of claim 1, wherein: the front monitoring system comprises a panoramic wide-angle camera, a camera base, a camera glass cover, a camera auxiliary lamp and a front monitoring system cleaning device; the front monitoring system cleaning device is arranged around the panoramic wide-angle camera, and the camera base is arranged at the front end of the front section body and used for fixing the panoramic wide-angle camera at the front end of the front section body; the camera glass cover covers the front of the panoramic wide-angle camera; the camera auxiliary lamp is arranged on the surface of the camera base.

4. A petroleum pipeline inspection cleaning robot according to claim 3, wherein: the front monitoring system cleaning device comprises a dust sensor, an eye closing device and a detergent spraying device, wherein the dust sensor is used for detecting the concentration of particles in the air; the eye closing device is used as a mechanical device for cleaning the camera glass cover; the detergent sprinkler is arranged above the panoramic wide-angle camera shell.

5. The petroleum pipeline inspection cleaning robot of claim 4, wherein: the eye closing device comprises a lower glass cover cap, an upper glass cover cap, an adhesive tape, a crank rocker mechanism and a multi-stage bevel gear of the eye closing device; the adhesive tape is used for directly contacting the camera glass cover; the lower glass cover and the upper glass cover are used for installing adhesive tapes and supporting the adhesive tapes to be directly contacted with the camera glass cover; the crank and rocker mechanism comprises a crank and rocker base, a crank and rocker mechanism gear, a crank, a rocker and a crank and rocker mechanism driving motor; the crank rocker base is arranged on the camera base and used for fixing the position of the crank rocker mechanism; the crank rocker mechanism driving motor is used for driving the crank rocker mechanism gear to rotate; the crank rocker mechanism gear is arranged on the crank rocker base, and the crank rotates around the axle center through the revolute pair; the crank is arranged on the crank rocker base and swings with the rocker through a moving pair; the rocker is connected with an axial key outside the lower glass cover cap and is used for directly driving the lower glass cover cap to swing; the eye closing device is arranged at the shaft parts of the lower glass cover and the upper glass cover and comprises a first bevel gear, a second bevel gear and a third bevel gear, wherein the first bevel gear is connected with the inner shaft key of the lower glass cover and is used for realizing the swing of the lower glass cover, the second bevel gear is used for changing the transmission direction of the first bevel gear, converting the vertical transmission into the transverse transmission, enabling the third bevel gear to rotate, and the third bevel gear is connected with the inner shaft key of the upper glass cover and is used for realizing the swing of the upper glass cover.

6. The petroleum pipeline inspection cleaning robot of claim 1 or 2, wherein: the device also comprises a detergent spraying device, wherein the detergent spraying device is arranged at one side of the eye closing device and comprises a washing device casing, a liquid storage tank, a solid cone-shaped wide-angle nozzle, a centrifugal vane pump, a permanent magnet direct current motor and a hose; the liquid storage tank is used for storing washing liquid; the centrifugal vane pump is used for conveying the washing liquid out of the liquid storage tank; the permanent magnet direct current motor is used for driving the centrifugal vane pump; the solid cone-shaped wide-angle nozzle is used for realizing higher coverage effect and better uniformity; the hose is used for conveying the detergent conveyed by the centrifugal vane pump to the solid cone-shaped wide-angle nozzle; the washing device casing is used for placing a liquid storage tank, a centrifugal vane pump and a permanent magnet direct current motor.

7. The petroleum pipeline inspection cleaning robot of claim 1 or 2, wherein: the system also comprises a dry ice cleaning system, wherein the dry ice cleaning system comprises a dry ice conveying pipeline, a dry ice spraying pipeline, a dry ice rotating base and a dry ice rotating base driving motor; the dry ice conveying pipeline is used for conveying dry ice particles in the external dry ice granulator to the dry ice rotating base; the dry ice spraying pipeline is used for spraying dry ice particles onto the pipe wall; the dry ice rotating base is used for enabling dry ice particles to fully cover the pipeline for one circle at 360 degrees; the dry ice rotating base driving motor is used for driving the dry ice rotating base to rotate.

8. The petroleum pipeline inspection cleaning robot of claim 1 or 2, wherein: the device also comprises a rotary brush device, wherein the rotary brush device comprises a brush head, a brush rod self-adaptive spring device, a rotary brush system rotary base, a rotary brush wheel driving motor and a brush head driving motor; the brush head is used for directly contacting with the pipe wall; the brush rod self-adaptive spring device comprises a first section of brush rod, a second section of brush rod and a spring, wherein the second section of brush rod is fixed on a rotating base of the rotating brush system, the spring is arranged inside the second section of brush rod, and the pipe diameter of the first section of brush rod is smaller than that of the second section of brush rod, so that the first section of brush rod is conveniently compressed into the second section of brush rod in an environment in which the pipe diameter needs to be changed; the rotary brush system is used for rotating the base, and the brush rod self-adaptive spring device is used for brushing the pipeline in a whole circle; the rotary brush wheel driving motor is used for driving the rotary brush system to rotate the rotary base; the rotary brush wheel driving motor is used for driving the brush head to rotate.

9. The petroleum pipeline inspection cleaning robot of claim 1 or 2, wherein: further comprising a dirt evacuation system; the dirt discharging system comprises a suction nozzle, a suction nozzle pipeline, a suction motor, a mechanical arm motor, a dirt discharging system distance sensor and a triaxial mechanical arm; the suction nozzle is arranged at the bottommost end of the dirt discharging system and is used for sucking dirt and debris on the lower surface of the pipeline; the suction nozzle pipeline is used for conveying dirt and debris sucked out by the suction nozzle; the suction motor is used for manufacturing vacuum; the mechanical arm motor is arranged at the joint of each shaft of the triaxial mechanical arm; the dirt removing system distance sensor is arranged beside the suction nozzle and is used for sending out a distance difference signal of the measuring pipe wall and the dirt removing system distance sensor.

10. The petroleum pipeline inspection cleaning robot of claim 1 or 2, wherein: the system also comprises a rear detection system, wherein the rear detection system comprises an infrared night vision pipeline defect detector and a rear detection system motor; the infrared night vision pipeline defect detector comprises a swinging frame, a rotating bracket, a gear shaft and a detector body; the gear shaft is used for transmitting the torsion force of the motor of the rear detection system; the rotary support is used for driving the swing frame to swing; the detector body is used for detecting various corrosion conditions and pipeline defects caused by long-term use of the pipeline;

The swing frame is used for driving the detector body to rotate; the rear detection system motor is used for transmitting torsional force to enable the infrared night vision pipeline defect detector to detect in all directions.