CN214467059U

CN214467059U - Rotation type pipeline inner wall robot

Info

Publication number: CN214467059U
Application number: CN202120597098.9U
Authority: CN
Inventors: 黄皓; 向文欣; 王永刚; 韩健; 牛郅禹
Original assignee: Taishan Nuclear Power Joint Venture Co ltd
Current assignee: Taishan Nuclear Power Joint Venture Co ltd
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2021-10-22
Anticipated expiration: 2031-03-24

Abstract

The utility model provides a robot of barrier in pipeline is strideed across to rotation type, includes at least two sets of robot main parts that connect gradually and relatively rotate, and the equidistance is provided with a plurality of supporting wheel adjustment mechanism in every robot main part of group, and at least a set of robot main part has maintenance mechanism for overhaul the pipeline inner wall. Because the supporting wheel adjusting structure can be supported on the inner wall of the pipeline, and the front and rear groups of robot main bodies can rotate relatively, large obstacles can be avoided when the robot walks in the pipeline.

Description

Rotation type pipeline inner wall robot

Technical Field

The invention relates to the field of robots, in particular to a rotary pipeline inner wall robot.

Background

In the prior art, the measures of pipeline corrosion prevention are combined protection by adopting a method of paint corrosion prevention and metal corrosion prevention through electrochemistry so as to obtain a good protection effect. The sacrificial anode block is required to be placed in the pipeline by using an electrochemical method, and at present, the installation of the sacrificial anode in the pipeline has no uniform specification and implementation requirements, so that the sacrificial anode can be installed at the upper side, the bottom or two sides and the like in the pipeline.

For the maintenance of the interior of the pipeline, a pipeline detection robot is generally adopted to carry out operation, and flaw detection, repair, dredging and material transmission are carried out on the interior of the pipeline. Common in-pipe inspection robots include four-wheel, caterpillar, etc. parallel-moving robots that can move in a flat pipe, but cannot be applied to in-pipe inspection with a large obstacle (installation of sacrificial anode).

Disclosure of Invention

The invention provides a rotary pipeline inner wall robot which can freely rotate on the inner wall of a pipeline to achieve the purpose of avoiding obstacles.

A rotary pipeline inner wall robot comprises at least two groups of robot main bodies which are sequentially connected and can relatively rotate, wherein a plurality of supporting wheel adjusting mechanisms are arranged on each group of robot main bodies at equal intervals and are supported on the inner wall of a pipeline through the supporting wheel adjusting mechanisms; at least one group of robot main parts are provided with maintenance mechanisms for maintaining the inner wall of the pipeline.

In one embodiment, two sets of robot bodies are included, and each set of robot bodies has three support wheel adjustment mechanisms thereon.

In one embodiment, the supporting wheel adjusting mechanism comprises a supporting telescopic assembly and a driving wheel, and the driving wheel is connected to the robot main body through the supporting telescopic assembly.

In one embodiment, the driving wheel is rotatably connected to the support telescoping assembly and can rotate relative to the support telescoping assembly.

In one embodiment, the support telescopic assembly comprises a support pipe and a telescopic guide rod, the support pipe is fixed on the robot main body, one end of the telescopic guide rod is sleeved in the support pipe, and the other end of the telescopic guide rod is rotatably connected with the driving wheel.

In one embodiment, the rotation angle of the driving wheel is 0-360 °.

In one embodiment, the rotation angle of the driving wheel is 0-90 °.

In one embodiment, the service mechanism is detachably arranged at the end part of one group of robot main bodies.

In one embodiment, the service mechanism includes a robot arm rotatable with respect to the robot body, and a probe head at a front end of the robot arm.

In one embodiment, the robot body is shaped as a centrosymmetric structure.

According to the rotary pipeline inner wall robot of the embodiment, the supporting wheel adjusting structure can be supported on the inner wall of the pipeline, and the front and rear robot main bodies can rotate relatively, so that a large obstacle can be avoided when the robot walks in the pipeline.

Drawings

FIG. 1 is a schematic structural diagram of a rotary pipeline inner wall robot;

FIG. 2 is a front view of a rotary pipe inner wall robot;

FIG. 3 is a front view of a rotary pipe inner wall robot;

FIG. 4 is a bottom view of the rotary pipe inner wall robot;

marking:

the robot comprises a robot main body 10, a connecting shaft 20, a supporting wheel adjusting mechanism 30, an overhauling mechanism 40, a supporting telescopic assembly 31, a driving wheel 32, a manipulator 41 and a detecting head 42.

Detailed Description

The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.

Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed. The terms "connected" and "coupled" when used herein, unless otherwise indicated, include both direct and indirect connections (couplings).

The application provides a rotation type pipeline inner wall robot, hereinafter referred to as the robot for short. The robot is used for working on the inner wall of the pipeline, and is particularly suitable for working in the pipeline with obstacles such as sacrificial anode blocks and the like on the inner wall. When the rotary pipeline inner wall robot is used, the rotary pipeline inner wall robot can rotate along the radial direction on the inner wall of the pipeline through rotation so as to bypass the obstacle arranged in front.

As shown in fig. 1 to 4, the robot includes a robot main body 10, a support wheel adjusting mechanism 30, and an inspection mechanism 40. Preferably, the robot main body 10 is shaped in a centrosymmetric structure, such as a cylindrical structure.

Specifically, the robot includes at least two sets of robot main parts 10 that connect gradually and relatively rotatable, connects end to end through connecting axle 20 between two sets of adjacent robot main parts 10, sets gradually along the axial in the pipeline inside. When the robot walks on the inner wall of the pipeline, the supporting wheel adjusting mechanism 30 abuts against the inner wall of the pipeline, and when the inner wall of the pipeline has obstacles, the supporting wheel adjusting mechanism 30 is prevented from advancing. Therefore, this application sets up every group robot main part 10 to the structure that can realize alone rotatory (along the inside radial rotation of pipeline), if meet the barrier when this group robot main part 10 gos forward, then rotates to walk around the barrier, go forward again, other robot main parts 10 of group are not influenced in this in-process, can work alone between every group robot main part 10 promptly, realize independent control.

The supporting wheel adjusting mechanisms 30 are equidistantly arranged on each set of the robot main body 10 and are supported on the inner wall of the pipeline. The supporting wheel adjusting mechanism 30 has a telescopic function to meet the requirements of being applied to the inner walls of pipelines with different sizes, and in addition, the supporting wheel adjusting mechanism 30 also has the functions of advancing and rotating in the pipelines to meet the purposes of avoiding obstacles and walking. In order to keep the balance of the robot main body 10, at least three, but four, five, etc., support wheel adjusting mechanisms 30 are provided. Preferably, the supporting wheel adjusting mechanisms 30 are equidistantly arranged on the robot main body 10 and are equidistantly distributed along the robot main body 10 (equidistantly arranged in the radial direction of the pipeline).

At least one set of robot main bodies 10 has an inspection mechanism 40 for inspecting an inner wall of a pipeline. The service mechanism 40 is detachably provided on the robot main body 10. For example, the maintenance mechanism 40 may be detachably provided on the group of robot main bodies 10 at the end portions in the robot advancing direction (the end portions refer to both ends of the structure), and different maintenance mechanisms 40 may be replaced according to the maintenance items.

In one embodiment, as shown in fig. 1, the inspection mechanism 40 includes a robot arm 41 rotatable with respect to the robot body 10, and a probe head 42 at a front end of the robot arm 41. The rotating mode of the manipulator can refer to the working mode of the airplane propeller, and the manipulator can perform operations such as detection, maintenance, part replacement and the like.

The supporting wheel adjusting mechanism 30 includes a supporting telescopic assembly 31 and a driving wheel 32, and the driving wheel 32 is rotatably connected to the supporting telescopic assembly 31 and connected to the robot main body 10 through the supporting telescopic assembly 31. Specifically, the support telescopic assembly 31 includes a support pipe fixed on the robot main body 10 and a telescopic guide rod (not shown in the drawings, and having a conventional telescopic structure) with one end sleeved in the support pipe and the other end rotatably connected with a driving wheel 32.

The driving wheel 32 is rotatable relative to the support telescopic assembly 31, i.e. the driving wheel 32 is rotatable relative to the telescopic guide bar. The rotation angle of the driving wheel 32 is 0 ° to 360 °, and preferably, the rotation angle of the driving wheel 32 is 0 ° to 90 °. For example, when the driving wheel 32 advances in parallel to the inner wall of the pipe by an angle of 0 °, the driving wheel 32 may rotate to 90 ° when encountering an obstacle, and at this time, the robot main body 10 may rotate radially along the inside of the pipe, and after rotating to bypass the obstacle, the driving wheel 32 may rotate back to 0 ° again, and may continue to maintain the advancing state.

The structure of the rotary pipeline inner wall robot of the application is further explained by the specific embodiment. Please continue to refer to fig. 1-4.

The robot main body 10 is supported and fixed in the middle of the pipeline through six elongated supporting wheel adjusting mechanisms 30, and the supporting wheel adjusting mechanisms 30 comprise driving wheels 32 which are positioned at the tail ends and abut against the pipeline, so that the robot main body 10 is pushed to move in the pipeline. The robot main body 10 and the pipe wall are overhead through the long supporting wheel adjusting mechanism 30, so that the distance of the obstacles can be reserved, and various obstacles in the pipeline can be avoided.

The robot comprises two sets of robot main bodies 10, asynchronous rotation can be achieved through cooperative work of the front and rear robot main bodies 10, corresponding posture adjustment is conducted according to the conditions in a pipeline, and the overall motion capability of the robot and the adaptability of an assembly environment are effectively improved.

The two groups of robot main bodies 10 are connected through a rotating shaft, and each group of robot main body 10 is provided with three supporting wheel adjusting mechanisms 30, so that the stability of the robot in the pipeline can be ensured. Specifically, the robot main body 10 is a cylindrical structure, and the axis of the cylinder coincides with the axis of the pipe. The supporting wheel adjusting mechanisms 30 are equidistantly arranged on the robot body 10 in a radial direction, and an angle formed between two adjacent supporting wheel adjusting mechanisms 30 is 120 °.

In addition, the supporting wheel adjusting mechanism 30 includes a supporting telescopic assembly 31 and a driving wheel 32 at the end of the supporting telescopic assembly 31, and the supporting telescopic assembly 31 includes a supporting tube and a telescopic guide rod. The robot can move back and forth parallel to the pipeline and can also rotate 90 degrees, and the robot is parallel to the direction of the wall tangent plane of the pipeline, so that the robot can rotate and avoid the sacrificial anode installed at any position. In addition, the telescopic guide rod adopts a telescopic structural design, and the telescopic supporting wheels adjust the distance of the structure under the condition that the inner diameter of the pipeline is larger, so that the pipeline can move in pipelines with different sizes.

To sum up, this application rotation type pipeline inner wall robot adopts double-machine triaxial structure, can rotate according to the particular situation in the pipeline, adjusts the contact point of drive wheel and pipeline to reach the purpose of dodging various barriers in the pipeline. And the structure that the activity is rotatory around adopting moreover helps promoting robot's stability and flexibility, effectively strengthens robot's adaptability.

The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.

Claims

1. The rotary pipeline inner wall robot is characterized by comprising at least two groups of robot main bodies which are sequentially connected and can relatively rotate, wherein a plurality of supporting wheel adjusting mechanisms are arranged on each group of robot main bodies at equal intervals and are supported on the inner wall of a pipeline through the supporting wheel adjusting mechanisms; at least one group of robot main parts are provided with maintenance mechanisms for maintaining the inner wall of the pipeline.

2. The rotary pipe inner wall robot as claimed in claim 1, comprising two sets of robot bodies, each set having three supporting wheel adjusting mechanisms.

3. The rotary pipe inner wall robot according to claim 1 or 2, wherein the supporting wheel adjusting mechanism comprises a supporting telescopic assembly and a driving wheel, and the driving wheel is connected to the robot main body through the supporting telescopic assembly.

4. A rotary pipe inner wall robot as claimed in claim 3, wherein said drive wheel is rotatably connected to said support telescoping assembly and rotatable relative to said support telescoping assembly.

5. The rotary pipe inner wall robot as claimed in claim 4, wherein the supporting telescopic assembly comprises a supporting pipe and a telescopic guide rod, the supporting pipe is fixed on the robot body, one end of the telescopic guide rod is sleeved in the supporting pipe, and the other end of the telescopic guide rod is rotatably connected with the driving wheel.

6. A rotary pipe inner wall robot as claimed in claim 4, wherein the rotation angle of the driving wheel is 0 ° to 360 °.

7. The rotary pipe inner wall robot as claimed in claim 6, wherein the rotation angle of the driving wheel is 0 ° to 90 °.

8. The rotary pipe inner wall robot according to claim 3, wherein the service mechanism is detachably provided at an end of one of the robot bodies.

9. The rotary pipe inner wall robot according to claim 8, wherein the maintenance mechanism comprises a robot arm rotatable with respect to the robot main body, and a probe at a front end of the robot arm.

10. The rotary pipe inner wall robot as claimed in claim 7, wherein the robot body has a shape of a centrosymmetric structure.