CN203671141U - Spiral type pipeline robot - Google Patents

Abstract

A spiral type pipeline robot comprises two walking assemblies which are symmetrically arranged. A control assembly is arranged between the two walking assemblies. Each walking assembly is connected with the control assembly through an expansion joint and a cardan joint. According to each walking assembly, a motor in an installation frame drives a rotating frame, and then a driving idler wheel mechanism on the rotating frame are driven to move spirally. Each walking assembly and the control assembly are respectively provided with a guiding idler wheel mechanism. Each idler wheel mechanism is sleeved with a sleeve through an elastic supporting arm. A plurality of external spring channels and internal spring channels are arranged in each elastic supporting arm, wherein the depths of the external spring channels and the depths of the internal spring channels are gradually increased. The external spring channels are used for compressing and releasing springs fixed to the bottoms of the sleeves. Sealed spaces with adjustable pressure are arranged in the internal spring channels, and the pressure of the sealed spaces is adjusted by arranging one-way pressure relief openings. The spiral type pipeline robot can be effectively adapted to the change of the inner diameters of pipelines, effectively climb small barriers, conduct comprehensive and reliable detection on the pipelines, and move flexibly, stably and reliably.

Description

Screw type pipeline robot

Technical field

The utility model relates to industrial pipeline and detects robot, relates in particular to screw type pipeline robot.

Background technique

Industrial piping system has been widely used in the fields such as metallurgy, oil, chemical industry and city hot-water heating supply,, after long-term use, easily there is corrosion and fatigue and destroy or make pipe interior latent defect develop into breakage and cause leakage accident etc. in the working environment very severe of industrial pipeline.Therefore in the pipe of pipeline, surveying is a very important practical engineering, is related to various pipe safeties and runs efficiently, surveys at present the pipeline robots that adopt more and carry out in pipe.Because pipeline robot is subject to very strong pipeline constraint in pipeline, especially run into bending pipeline, robot walks in pipeline on the one hand needs enough frictional force to overcome the impact of gravity, need to provide enough large driving force to overcome various resistances, on the other hand, need robot easily to control, maneuverability, therefore, the most basic structure of detecting robot of pipe is exactly running gear and the intelligentized detection system that will have flexibility and reliability.In prior art, there is the screw type pipeline robot under the different situations of being applied in, but still there is following defect in these pipeline robots: first, adopt the pipeline robot of single driving wheel cannot guarantee that its helicoid is parallel with pipeline section all the time, cannot guarantee that robot operates steadily, and while adopting the pipeline robot of double wheel design to run into obstacle in pipeline, although its helicoid is overall parallel with pipeline section, but still has the jammed phenomenon of driving wheel; Second, aspect the adaptability changing at pipeline section, in prior art, there are the flexible rod of employing and single spring controlled controlling mechanism, change although this controlling mechanism can make pipeline robot adapt to pipeline section, this adaptation is limited, in the time that pipeline section diameter changes greatly, the elastic pressure that this controlling mechanism produces is within the specific limits uncontrollable, in the time that elastic pressure is larger, the phenomenon that there will be the not enough driving wheel of driving torque to block, affects the operational reliability of pipeline robot.

Model utility content

The above-mentioned shortcoming that claimant exists for prior art is studied and is improved, a kind of screw type pipeline robot is provided, and it can adapt to the variation of internal diameter of the pipeline effectively, and can effectively cross small obstacle, to pipe detection comprehensively, reliably, move flexible and steadily reliable.

The technological scheme that the utility model adopts is as follows:

Screw type pipeline robot, comprises the walking assembly being arranged symmetrically with, and between two cover walking assemblies, is provided with control unit, between walking assembly and control unit, be connected by slip joint and universal joint, wherein:

The structure of described walking assembly is as follows:

Comprise scaffold, in scaffold, be provided with motor one, output shaft and the swivel mount of motor one are in transmission connection, scaffold and swivel mount are furnished with multiple roller mechanisms along even circumferential, and the roller mechanism of scaffold and the roller mechanism of swivel mount are staggeredly arranged, roller mechanism is provided with multiple rollers, the axes intersect of the rotational axis of the roller on scaffold and walking assembly, and the rotational axis of the roller on swivel mount is vertical with the axis of walking assembly;

The structure of described control unit is as follows:

Comprise fixing frame, multiple roller mechanisms are arranged along even circumferential in the two ends of fixing frame, and the rotational axis of the roller on fixing frame is vertical with the axis of fixing frame, and the axis of fixing frame is located along the same line with the axis of walking assembly;

The structure of described roller mechanism is as follows:

Comprise elastic support, elastic support one end is provided with symmetrical catch, roller two ends are supported on respectively two wheels and block, the elastic support the other end is cylindrical portion, cylindrical portion is socketed in sleeve, cylindrical portion inside is provided with at least two axial external springs passages, multiple external springs passages are uniformly distributed along the circumference on the end face of cylindrical portion, external springs passage is the blind hole that Open Side Down, between the outer wall of external springs passage and the inwall of sleeve, offer arc groove, in arc groove, be provided with a preloading spring, the inwall of preloading spring one end and sleeve is affixed, preloading spring the other end connecting ball head, bulb is connected on the outer wall of external springs passage, the outer wall of external springs passage is provided with the radially taper hole of perforation coordinating with bulb, radially external springs passage is divided into upper channel and lower channel by taper hole, and the internal diameter of described upper channel is less than described lower channel internal diameter, the below of external springs passage is provided with spring one, spring one lower end is fixed on microscler supporting frame, microscler supporting frame is fixed on sleeve bottom, the central axis of spring one parallel with the central axis of described lower channel and the two do not overlap, spring one is located near bulb one side, when external springs passage is stretched in spring one upper end, spring one near the part periphery of bulb one side between the internal surface of described lower channel and the internal surface of described upper channel, the degree of depth of multiple external springs passages increases progressively successively, and the distance of taper hole and spring one upper end increases progressively along with increasing progressively of external springs channel depth,

Described roller mechanism is fixed on walking assembly and control unit by sleeve.

Its further technological scheme is:

Described cylindrical portion is axially arranged with a middle springs passage along it, middle springs passage is the blind hole that Open Side Down, the central axis of middle springs passage and the central axes of cylindrical portion, in middle springs passage, be provided with spring two, the bottom of middle springs passage is provided with indent bulge loop, spring two is set on indent bulge loop, regulation loop covers indent bulge loop, and between the two, be provided with seal ring, in the middle of regulation loop and seal ring, be provided with unidirectional pressure relief opening, on described unidirectional pressure relief opening, be connected with elastic bag, air bag, seal ring and middle springs passage form a confined space, the opening of air bag is positioned at the outside of described confined space.

In described roller mechanism, three rollers are installed between two catch, and three rollers are isosceles triangle layout.

Described slip joint is stratiform expansion ring structure, in described every one deck expansion ring, be filled with deformable packing, every one deck expansion ring comprises banded spring chain and the elastic rod composition of more piece spring composition, and elastic rod saves spring through each, and connects at spring joint place.

On described walking assembly, carrying type ultrasonic detection device is housed.

Described control unit is equipped with carrying type ultrasonic detection device.

Described carrying type ultrasonic detection device comprises ring gear, between the inner peripheral surface of bottom bulge loop of ring gear and the outer circumferential face of fixed cover, be provided with ball, the internal tooth on ring gear top and meshed transmission gear, the output shaft of gear and motor two is in transmission connection, and on the outer circumferential face of ring gear, is furnished with multiple ultrasonic detecting probes along even circumferential.

Technique effect of the present utility model:

1, the utility model provides a kind of screw type pipeline robot architecture, pipeline robot driving mode adopts screw drives mode, detecting method adopts dynamic ultrasound ripple detection method, can either realize the walking of pipeline robot in pipeline, can realize again the complete detection of pipeline;

2, adopt the detection device of mounting type, detection device and pipeline robot walking main body are relatively independent, the required pipeline robot of modularization assembling as required;

What 3, pipeline robot described in the utility model adopted is that the active of built-in power formula travels, guarantee the convenience of sailing at pipeline internal, whole pipeline robot adopts the screw drives mechanism of Dual-motors Driving, larger tractive force can be provided, guarantee that pipeline robot is free to advance or retreat in pipeline;

4, in roller mechanism, be provided with resilient support arms, and in resilient support arms, be provided with external springs passage, corresponding external springs passage is provided with spring, on walking assembly and control unit, be all fixed with sleeve, spring is fixed on sleeve bottom by microscler supporting frame, when spring relative resilient support arm moves into described external springs passage, by the preloading spring between external springs channel outer wall and sleeve lining, the setting of the cooperation taper hole on bulb and external springs channel outer wall, thereby promote spring retracting spring by bulb, thus, realize the adaptation that pipeline robot described in the utility model changes internal diameter of the pipeline in the time that pipeline internal is walked, simultaneously, in resilient support arms, be provided with the external springs passage that the degree of depth increases progressively, corresponding each external springs passage is provided with spring, along with the compression distance of resilient support arms is when increasing, thereby will promote spring retracting spring by bulb one by one, thus, can make the pressure that whole resilient support arms produces keep within the specific limits, thereby and not can along with compression distance increasing and produce the increasing driving torque deficiency that occurs of elastic pressure, the phenomenon that resilient support arms is blocked, guarantee thus the shape of operating steadily of pipeline robot in the time of pipe diameter gradual change,

5, in resilient support arms in roller mechanism, be provided with contained spring passage and regulation loop, and pass through air bag, the described confined space that seal ring and middle springs passage form, when resilient support arms pressurized moves, described confined space pressurized contracts and produces certain air pressure in order to support elastic support arm, during in the time that the pressure in described confined space exceedes certain numerical value or lower than certain numerical value, unidirectional pressure relief opening by seal ring and air bag are just, reverse pressure release, control the volume of described confined space with the effect of various countries' air bag, thereby regulate the pressure of described confined space, the setting of the described confined space that pressure is adjustable, can guarantee that whole pipeline robot moves produced initial frictional in pipeline, spring in contained spring passage plays buffering,

6, the structure setting of the roller mechanism by Three-wheel type, in the time that pipeline robot runs into obstacle in the time that pipeline internal is walked, can overcome the phenomenon that roller is blocked effectively, thereby makes the pipeline robot obstacle in pipeline of effectively ascending, and guarantees running stability.

Accompanying drawing explanation

Fig. 1 is stereogram of the present utility model.

Fig. 2 is the stereogram of scaffold and upper roller mechanism thereof in walking assembly described in the utility model.

Fig. 3 is the stereogram of roller mechanism described in the utility model.

Fig. 4 is the cylindrical portion medi-spring passage of roller mechanism described in the utility model layout plan on described cylindrical portion cross section, from cross-sectional the looking down of upper channel of described external springs passage.In figure, also show sleeve.

Fig. 5 is the layout schematic diagram that the cylindrical portion peripheral spring passage of described roller mechanism launches vertically, also shows sleeve and spring one in figure.

Fig. 6 is the structural representation of single external springs passage described in the utility model and arc groove.

Fig. 7 is the structural representation of contained spring passage described in the utility model.

Fig. 8 is the shaft section structural representation of slip joint described in the utility model.

Fig. 9 is the stereogram of carrying type ultrasonic detection device described in the utility model.

Figure 10 is the sectional view of carrying type ultrasonic detection device described in the utility model.

Wherein: 1, walking assembly; 101, scaffold; 102, motor one; 103, swivel mount; 104, roller mechanism; 1041, roller; 1042, elastic support; 1043, catch; 1044, sleeve; 1045, cylindrical portion; 1046, external springs passage; 1047, arc groove; 1048, preloading spring; 1049, bulb; 1050, taper hole; 1051, spring one; 1052, middle springs passage; 1053, spring two; 1054, indent bulge loop; 1055, regulation loop; 1056, seal ring; 1057, air bag; 1058, microscler supporting frame; 2, control unit; 201, fixing frame; 3, universal joint; 4, ultrasonic detection device; 401, ring gear; 402, fixed cover; 403, ball; 404, gear; 405, motor two; 406, ultrasonic detecting probe; 5, slip joint; 501, expansion ring; 502, deformable packing; 503, banded spring chain; 504, elastic rod; 505, spring joint.

Embodiment

Below in conjunction with accompanying drawing, embodiment of the present utility model is described.

See Fig. 1, the utility model comprises between walking assembly 1, the two cover walking assembly 1 being arranged symmetrically with and is provided with control unit 2, between walking assembly 1 and control unit 2, is connected by slip joint 5 and universal joint 3.

See Fig. 1, Fig. 2, the structure of walking assembly 1 is as follows: comprise scaffold 101, in scaffold 101, be provided with motor 1, the output shaft of motor 1 is connected by coupling with swivel mount 103, scaffold 101 and swivel mount 103 are furnished with multiple roller mechanisms 104 along even circumferential, and the roller mechanism 104 of scaffold 101 is staggeredly arranged with the roller mechanism 104 of swivel mount 103, roller mechanism 104 is provided with multiple rollers 1041, the axes intersect of the rotational axis of the roller 1041 on scaffold 101 and walking assembly 1, the rotational axis of the roller 1041 on swivel mount 103 is vertical with the axis of walking assembly 1,

See Fig. 1, the structure of control unit 2 is as follows: comprise fixing frame 201, multiple roller mechanisms 104 are arranged along even circumferential in the two ends of fixing frame 201, the rotational axis of the roller 1041 on fixing frame 201 is vertical with the axis of fixing frame 201, the axis of fixing frame 201 is located along the same line with the axis of walking assembly 1, and control unit 2 can be used for device control circuit and other loads;

See Fig. 3, Fig. 4, Fig. 5, Fig. 6, the structure of roller mechanism 104 is as follows: comprise elastic support 1042, elastic support 1042 one end are provided with symmetrical catch 1043, roller 1041 two ends are supported on respectively on two catch 1043, elastic support 1042 the other ends are cylindrical portion 1045, cylindrical portion 1045 is socketed in sleeve 1044, and roller mechanism 104 is fixed on walking assembly 1 and control unit 2 by sleeve 1044, cylindrical portion 1045 inside are provided with at least two axial external springs path 10s 46, see Fig. 4, multiple external springs path 10s 46 are uniformly distributed along the circumference on the end face of cylindrical portion 1045, see Fig. 5, Fig. 6, external springs path 10 46 is the blind hole that Open Side Down, between the inwall of the outer wall of external springs path 10 46 and sleeve 1044, offer arc groove 1047, in arc groove 1047, be provided with a preloading spring 1048, the inwall of preloading spring 1048 one end and sleeve 1044 is affixed, preloading spring 1048 the other end connecting ball heads 1049, bulb 1049 is connected on the outer wall of external springs path 10 46, the outer wall of external springs path 10 46 is provided with the radially taper hole 1050 of perforation coordinating with bulb 1049, radially external springs path 10 46 is divided into upper channel and lower channel by taper hole 1050, and the internal diameter of described upper channel is less than the internal diameter of described lower channel, the below of external springs path 10 46 is provided with spring 1, spring one 1051 lower ends are fixed on microscler supporting frame 1058, microscler supporting frame 1058 is fixed on sleeve 1044 bottoms, the central axis of spring 1 parallel with the central axis of described lower channel and the two do not overlap, spring 1 is located near bulb 1,049 one sides, when external springs path 10 46 is stretched in spring one 1051 upper ends, spring 1 near the part periphery of bulb 1,049 one sides between the internal surface of described lower channel and the internal surface of described upper channel, when resilient support arms 1044 is in pipeline in compressed descending process, described upper channel exceeds radial component contact the Compress Spring 1 of spring 1 in the position of taper hole 1050, see Fig. 5, the degree of depth difference of each external springs path 10 46, the degree of depth of multiple external springs path 10s 46 increases progressively successively, and taper hole 1050 increases progressively along with external springs path 10 46 increasing progressively of the degree of depth with the distance of spring one 1051 upper ends,

Further, in order to guarantee that whole pipeline robot moves produced initial frictional in pipeline, see Fig. 4, Fig. 7, cylindrical portion 1045 is axially arranged with a middle springs path 10 52 along it, middle springs path 10 52 is the blind hole that Open Side Down, the central axes of the central axis of middle springs path 10 52 and cylindrical portion 1045, in middle springs path 10 52, be provided with spring 2 1053, the bottom of middle springs path 10 52 is provided with indent bulge loop 1054, spring 2 1053 is set on indent bulge loop 1054, regulation loop 1055 covers indent bulge loop 1054, and between the two, be provided with seal ring 1056, in the middle of regulation loop 1055 and seal ring 1056, be provided with unidirectional pressure relief opening, on unidirectional pressure relief opening, be connected with elastic bag 1057, air bag 1057, seal ring 1056 forms a confined space with middle springs path 10 52, the opening of air bag 1057 is positioned at the outside of described confined space.

In order to prevent that roller from being blocked, making the pipeline robot obstacle in pipeline of ascending smoothly, be different from single-wheel or double wheel design in conventional pipelines robot, between two catch 1043 in roller mechanism 104, three rollers 1041 are installed, and three rollers 1041 are isosceles triangle layout.

For crooked pipeline, slip joint 5 is set can make pipeline robot walk in crooked pipeline, see Fig. 1, slip joint 5 is connected with walking assembly 1, universal joint 3 respectively by attachment hole and the coupling shaft portion at two ends, see Fig. 8, slip joint 5 is stratiform expansion ring structure, in every one deck expansion ring 501, be filled with deformable packing 502, every one deck expansion ring 501 comprises that banded spring chain 503 and the elastic rod 504 of more piece spring composition form, elastic rod 504 saves spring through each, and connects at spring joint 505 places.Slip joint 5 also can adopt flexible expansion joint structure common in prior art.

Pipeline robot is walked at pipeline internal, for pipe detection is served, pipeline robot described in the utility model also comprises carrying type ultrasonic detection device 4, see Fig. 9, Figure 10, described carrying type ultrasonic detection device 4 comprises ring gear 401, between the inner peripheral surface of the bottom bulge loop of ring gear 401 and the outer circumferential face of fixed cover 402, be provided with ball 403, the internal tooth on ring gear 401 tops and gear 404 engagement driving, gear 404 is in transmission connection with the output shaft of motor 2 405, on the outer circumferential face of ring gear 401, be furnished with multiple ultrasonic detecting probes 406 along even circumferential, the overall similar bearing structure of described carrying type ultrasonic detection device 4, it can be mounted on walking assembly 1, also can be mounted on control unit 2, when described detection device is mounted on walking assembly 1, endoporus by fixed cover 402 is connected with the middle projecting shaft of scaffold 101 in walking assembly 1, and the same with the common assembling mode of bearing, lock with end cap, in order to keep the constitutional balance of whole pipeline robot, carrying type ultrasonic detection device 4 described in symmetrical mounting on two cover walking assemblies 1, when described detection device is mounted on control unit 2, be equally by with control unit 2 in the assembling of the intermediate connecting shaft of fixing frame 201 and the endoporus of fixed cover 402, in order to keep the constitutional balance of whole pipeline robot, at carrying type ultrasonic detection device 4 described in the device of the neutral position of fixing frame 201.

Working procedure:

Pipeline internal is walked: see Fig. 1, motor 1 in the symmetrically arranged walking assembly 1 of two covers starts, drive swivel mount 103 and roller mechanism 104 mounted thereto to rotate, simultaneously because the rotational axis of the roller 1041 on scaffold 101 and the axes intersect of swivel mount 103 have certain angle, therefore, swivel mount 103 rotates, the roller 1041 on swivel mount 103 is for the helical movement along inner-walls of duct as driving wheel, meanwhile, scaffold 101 does not rotate, and the rotational axis of the roller 1041 on scaffold 101 is vertical with the axis of walking assembly 1, roller 1041 on scaffold 101 moves along pipeline axial as upper saw pulley under the frictional force effect that is subject to tube wall circumferencial direction.Under the driving effect of two motors 1 in left and right two cover walking assemblies 1, the guiding rectilinear movement of the roller 1041 on driving rolls 1041 spiral motions and scaffold 101 on swivel mount 103.Realizing thus the spiral of pipeline robot described in the utility model in pipeline advances.Two motors 1 overturn simultaneously, change the moving direction of pipeline robot in pipeline, make pipeline robot free to advance or retreat in pipeline;

The adaptation in the time that pipeline internal is walked, internal diameter of the pipeline being changed: see Fig. 5, in the time that internal diameter of the pipeline diminishes, as shown in the direction of arrow in Fig. 5, resilient support arms 1045 in roller mechanism 104 is subject to tube wall pressure and radially moves towards central axis along pipeline, first the external springs path 10 46 of degree of depth minimum touches the spring corresponding with passage described in this 1 in resilient support arms 1045 pressurized moving process, particularly, see Fig. 6, in resilient support arms 1045 pressurized moving process, spring 1 enters in the described lower channel of external springs path 10 46, because the internal diameter of the described upper channel of external springs path 10 46 is less than the internal diameter of described lower channel, and spring 1 is located near bulb 1,049 one sides, spring 1 near the part periphery of bulb 1,049 one sides now between the internal surface of described lower channel and the internal surface of described upper channel, when continuing pressurized, resilient support arms 1045 moves, the outer wall section that described upper channel the arranges taper hole 1050 positions spring 1 that contacts and gradually reduce, meanwhile, the bulb 1049 being located on sleeve 1044 inwalls just in time slips into the taper hole 1050 in described resilient support arms 1045, bulb 1049 promotes spring 1 at taper hole 1050 places, thereby make spring 1 depart from the outer wall section that described upper channel is in contact with it, enter described upper channel, thus, the spring one 1051 corresponding with the external springs path 10 46 of degree of depth minimum discharged at first, in the time that the continuous pressurized of resilient support arms 1045 moves, the spring 1 that the external springs path 10 46 shallow with second is corresponding is discharged under bulb 1049 impetuses in this passage, the like, the continuation of moving along with resilient support arms 1045 pressurizeds, multiple springs 1 are released one by one, and in the time that internal diameter of the pipeline becomes large, resilient support arms 1045 radially deviates from central axis along pipeline and moves under the effect of spring 1, so, there is the structural design of the resilient support arms 10454 of stretchability, not only realize the adaptation that pipeline robot described in the utility model changes internal diameter of the pipeline in the time that pipeline internal is walked, and the setting of the different external springs passage of multiple degree of depth, can make the pressure that whole resilient support arms 301 produces keep within the specific limits, thereby not can along with compression distance increasing and produce the increasing driving torque deficiency that occurs of elastic pressure, the phenomenon that resilient support arms is blocked, guarantee thus the running stability of pipeline robot in the time of pipe diameter gradual change,

The control of the initial frictional in the time that pipeline internal is walked between roller and pipeline: see Fig. 4, Fig. 7, in the time that internal diameter of the pipeline diminishes, resilient support arms 1045 in roller mechanism 104 is subject to tube wall pressure and radially moves towards central axis along pipeline, by air bag 1057, the described confined space that seal ring 1056 and middle springs path 10 52 form by compression, thereby produce certain air pressure in order to support elastic support arm 1045, in the time that the pressure in described confined space exceedes certain numerical value, the opening of air bag 1057 is positioned at the outside of described confined space, described unidirectional pressure relief opening forward pressure release on regulation loop 1055 and seal ring 1056, air bag 1057 is outside mobile towards described confined space under the pressure-acting of described confined space, the volume of described confined space is increased, thereby adjusting pressure, spring 2 1053 plays buffering, its elasticity coefficient is less, along with the increase of compression distance, the scope of the pressure rise of spring 2 1053 is very little, can be considered as steady state value, and in the time that internal diameter of the pipeline becomes large, resilient support arms 1045 radially deviates from central axis along pipeline and moves under the effect of spring 1, described unidirectional pressure relief opening is reverse auto-compensation gas, be that air bag 1057 is inner mobile towards described confined space under negative pressure is used, state as residing in air bag in Fig. 7 1057.The setting of contained spring path 10 52, regulation loop, air bag 1057 in resilient support arms 105, the pressure that the described confined space of its formation produces can guarantee that whole pipeline robot moves produced initial frictional in pipeline;

The small obstacle of ascending when pipeline internal is walked: between two catch 1043 in roller mechanism 104, three rollers 1041 are installed, and three rollers 1041 are isosceles triangle and arrange, when pipeline robot is in the time that pipeline internal is walked to run into obstacle, certain roller 1041 is subject to rubbing while blocking, at this moment roller mechanism 104 is take the described roller being blocked 1041 as fulcrum, rotate along pipeline direction of advance around its axle center, convert thus the relative position of each roller 1041, thereby can clear the jumps, adopt Three-wheel type roller mechanism can effectively overcome the phenomenon that wheel is blocked, simultaneously, the surperficial applying coating of driving rolls 1041 on swivel mount 103, driving rolls 1041 is pressed on pipe wall under the effect of yielding support arm 1045 in the process of moving, the stressed generation distortion of described coating, can guarantee that driving rolls 1041 is close to the area of contact of inner-walls of duct, the stationarity that this contributes to driving rolls moving in pipeline, on the other hand, the roller mechanism 104 playing the guiding role is set on scaffold 101, the roller mechanism 104 of driving effect has been set at swivel mount 103, and the guide roller mechanism 104 on scaffold 101 and the driving rolls mechanism 104 on swivel mount 103 are staggeredly arranged, when in the time that pipeline internal is walked to run into ladder, first top roller 1041 surmounts obstacles, ensuing roller 1041 surmounts obstacles one by one, buffer function when playing thus obstacle and ascending, makes the walking of pipeline robot more steadily reliable,

Pipe detection: see Fig. 1, Fig. 9, Figure 10, motor 2 405 band nutating gears 404 rotate, the internal tooth on ring gear 401 tops and gear 404 engagement driving, drive the ring gear 401 that ultrasonic detecting probe 406 is housed to rotate in pipeline thus, and along with pipeline robot is advanced in pipeline.On described detection device, be evenly provided with multiple ultrasonic detecting probes 403, in ring gear 401 rotary courses, the detection range of all probes 403 can fine covering travel through pipe interior.Because pipeline robot adopts screw drives, so detection device is along with pipeline robot carries out screw drives, in rotary course, multiple ultrasonic detecting probes 406 equate apart from inner-walls of duct distance, the signal that each detect probe 406 detects is to process by same signal processing circuit, guarantee the reliability detecting, improved detection efficiency.

The walking main body of ultrasonic detection device 4 described in the utility model and the pipeline robot that is made up of walking assembly 1, control unit 2, slip joint 5, universal joint 3 is relatively independent, the required pipeline robot of modularization assembling as required.

More than describing is to explanation of the present utility model, is not the restriction to model utility, and the utility model limited range, referring to claim, within protection domain of the present utility model, can be done any type of modification.

Claims (8)

1. screw type pipeline robot, it is characterized in that: comprise the walking assembly (1) being arranged symmetrically with, between two cover walking assemblies (1), be provided with control unit (2), between walking assembly (1) and control unit (2), be connected by slip joint (5) and universal joint (3), wherein:

The structure of described walking assembly (1) is as follows:

Comprise scaffold (101), in scaffold (101), be provided with motor one (102), the output shaft of motor one (102) and swivel mount (103) are in transmission connection, scaffold (101) and swivel mount (103) are furnished with multiple roller mechanisms (104) along even circumferential, and the roller mechanism (104) of scaffold (101) is staggeredly arranged with the roller mechanism (104) of swivel mount (103), roller mechanism (104) is provided with multiple rollers (1041), the axes intersect of the rotational axis of the roller (1041) on scaffold (101) and walking assembly (1), the rotational axis of the roller (1041) on swivel mount (103) is vertical with the axis of walking assembly (1),

The structure of described control unit (2) is as follows:

Comprise fixing frame (201), multiple roller mechanisms (104) are arranged along even circumferential in the two ends of fixing frame (201), the rotational axis of the roller (1041) on fixing frame (201) is vertical with the axis of fixing frame (201), and the axis of fixing frame (201) is located along the same line with the axis of walking assembly (1);

The structure of described roller mechanism (104) is as follows:

Comprise elastic support (1042), elastic support (1042) one end is provided with symmetrical catch (1043), roller (1041) two ends are supported on respectively on two catch (1043), elastic support (1042) the other end is cylindrical portion (1045), cylindrical portion (1045) is socketed in sleeve (1044), cylindrical portion (1045) inside is provided with at least two axial external springs passages (1046), multiple external springs passages (1046) are uniformly distributed along the circumference on the end face of cylindrical portion (1045), external springs passage (1046) is the blind hole that Open Side Down, between the inwall of the outer wall of external springs passage (1046) and sleeve (1044), offer arc groove (1047), in arc groove (1047), be provided with a preloading spring (1048), the inwall of preloading spring (1048) one end and sleeve (1044) is affixed, preloading spring (1048) the other end connecting ball head (1049), bulb (1049) is connected on the outer wall of external springs passage (1046), the outer wall of external springs passage (1046) is provided with the radially taper hole (1050) of perforation coordinating with bulb (1049), radially external springs passage (1046) is divided into upper channel and lower channel by taper hole (1050), and the internal diameter of described upper channel is less than described lower channel internal diameter, the below of external springs passage (1046) is provided with spring one (1051), spring one (1051) lower end is fixed on microscler supporting frame (1058), microscler supporting frame (1058) is fixed on sleeve (1044) bottom, the central axis of spring one (1051) parallel with the central axis of described lower channel and the two do not overlap, spring one (1051) is located near bulb (1049) one sides, when external springs passage (1046) is stretched in spring one (1051) upper end, the part periphery of spring one (1051) close bulb (1049) one sides is between the internal surface of described lower channel and the internal surface of described upper channel, the degree of depth of multiple external springs passages (1046) increases progressively successively, and taper hole (1050) increases progressively along with external springs passage (1046) increasing progressively of the degree of depth with the distance of spring one (1051) upper end,

Described roller mechanism (104) is fixed on walking assembly (1) and control unit (2) by sleeve (1044).

2. according to screw type pipeline claimed in claim 1 robot, it is characterized in that: described cylindrical portion (1045) is axially arranged with a middle springs passage (1052) along it, middle springs passage (1052) is the blind hole that Open Side Down, the central axes of the central axis of middle springs passage (1052) and cylindrical portion (1045), in middle springs passage (1052), be provided with spring two (1053), the bottom of middle springs passage (1052) is provided with indent bulge loop (1054), spring two (1053) is set on indent bulge loop (1054), regulation loop (1055) covers indent bulge loop (1054), and between the two, be provided with seal ring (1056), in the middle of regulation loop (1055) and seal ring (1056), be provided with unidirectional pressure relief opening, on described unidirectional pressure relief opening, be connected with elastic bag (1057), air bag (1057), seal ring (1056) forms a confined space with middle springs passage (1052), the opening of air bag (1057) is positioned at the outside of described confined space.

3. according to screw type pipeline claimed in claim 1 robot, it is characterized in that: in described roller mechanism (104), three rollers (1041) are installed between two catch (1043), and three rollers (1041) are isosceles triangle and arrange.

4. according to screw type pipeline claimed in claim 1 robot, it is characterized in that: described slip joint (5) is stratiform expansion ring structure, in described every one deck expansion ring (501), be filled with deformable packing (502), every one deck expansion ring (501) comprises banded spring chain (503) and elastic rod (504) composition of more piece spring composition, elastic rod (504) saves spring through each, and locates to connect at spring joint (505).

5. according to the screw type pipeline robot described in the arbitrary claim of claim 1 to 4, it is characterized in that: carrying type ultrasonic detection device (4) is housed on described walking assembly (1).

6. according to the screw type pipeline robot described in the arbitrary claim of claim 1 to 4, it is characterized in that: described control unit (2) is equipped with carrying type ultrasonic detection device (4).

7. according to screw type pipeline claimed in claim 5 robot, it is characterized in that: described carrying type ultrasonic detection device (4) comprises ring gear (401), between the outer circumferential face of the inner peripheral surface of the bottom bulge loop of ring gear (401) and fixed cover (402), be provided with ball (403), the internal tooth on ring gear (401) top and gear (404) engagement driving, gear (404) is in transmission connection with the output shaft of motor two (405), on the outer circumferential face of ring gear (401), is furnished with multiple ultrasonic detecting probes (406) along even circumferential.

8. according to screw type pipeline claimed in claim 6 robot, it is characterized in that: described carrying type ultrasonic detection device (4) comprises ring gear (401), between the outer circumferential face of the inner peripheral surface of the bottom bulge loop of ring gear (401) and fixed cover (402), be provided with ball (403), the internal tooth on ring gear (401) top and gear (404) engagement driving, gear (404) is in transmission connection with the output shaft of motor two (405), on the outer circumferential face of ring gear (401), is furnished with multiple ultrasonic detecting probes (406) along even circumferential.

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