CN217208384U

CN217208384U - Pipeline robot

Info

Publication number: CN217208384U
Application number: CN202220046655.2U
Authority: CN
Inventors: 翟性泉; 马颖; 侯泰
Original assignee: Beijing Tiger Novi Technology Co ltd
Current assignee: Beijing Tiger Novi Technology Co ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-08-16
Anticipated expiration: 2032-01-10

Abstract

The utility model relates to a pipeline detection, construction, maintenance technical field specifically provide a pipeline robot, aim at solving current pipeline robot and adopt the towline mode to lead to the limited and high problem of later maintenance cost of its detection distance. Mesh for this reason, the utility model discloses a pipeline robot draws the platform and is connected with the cable laying device including drawing platform, cable laying device and electrical system, and the cable on the cable laying device is connected with electrical system, draws the platform and can drive the cable laying device and walk in the pipeline together, and the cable laying device can be at the automatic cable laying of in-process of walking. The utility model discloses what make pipeline robot adopt when walking in the pipeline is automatic mode of putting cable, reduce the pulling requirement of platform, improve the detection distance of pipeline robot in the pipeline, avoid cable and pipeline inner wall to produce very big friction or with the interior object of pipeline take place to cut to remove and rub and lead to the cable damaged, reduce later maintenance cost, can not influence the normal use of pipeline robot yet.

Description

Pipeline robot

Technical Field

The utility model relates to a pipeline is surveyed, is under construction, is maintained technical field, specifically provides a pipeline robot.

Background

The pipeline robot is a mechanical, electrical and instrument integrated system which can automatically walk along the interior of a small pipeline, carry one or more sensors and an operating machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.

In the prior art, a pipeline robot generally consists of three parts: the wheel type carrier vehicle (platform) is used for mounting various sensors and walking in the pipeline; the communication cable is used for providing power and communication for the platform; and the display control device controls the motion of the platform, the data acquisition and processing of various sensors and the display of data images. When in operation, the driving power supply and the cable of the pipeline robot are outside the pipeline, the pipeline robot walks in the pipeline in a towing cable mode to complete the functions of detection and pipeline maintenance, this way of pulling the cable makes the detection distance of the pipeline robot in the pipeline very limited, because as the cable is pulled longer in the pipeline, the friction force between the cable and the inner wall of the pipeline is larger and larger due to the dead weight of the cable, the traction force required to be provided by the wheel type carrying vehicle is larger and larger, the towing cable mode enables the pipeline robot to travel in the pipeline only about 300 meters generally, and cannot detect deeper distance, so that the detection efficiency of the pipeline robot is low, and the cable is easy to cut and rub with objects in the pipeline by adopting a towing mode, so that the cable is abraded, the later maintenance cost is high, and the pipeline robot can not be used easily in serious cases.

In view of the above, there is a need in the art for a new pipeline robot to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving above-mentioned technical problem, promptly, solve current pipeline robot and adopt the tow-cable mode to lead to the limited and high problem of later maintenance cost of its detection distance.

The utility model provides a pipeline robot, pipeline robot is including pulling platform, cable laying device and electrical system, pull the platform with the cable laying device is connected, cable on the cable laying device with the electrical system is connected, it can drive to pull the platform the cable laying device walks together in the pipeline, the cable laying device can be at the automatic cable laying of in-process of walking.

In the preferred technical scheme of above-mentioned pipeline robot, the cable laying device includes cable cabin, driving motor, cable laying disc, drive mechanism and cable arranging mechanism, cable laying disc drive mechanism with cable arranging mechanism all sets up in the cable cabin, the cable cabin with traction platform connects, driving motor's output shaft with cable laying disc connects in order to drive cable laying disc rotates and comes the cable laying, driving mechanism's input and output respectively with cable laying disc with cable arranging mechanism connects, cable arranging mechanism can with cable laying disc discharges on the inner wall of pipeline.

In a preferred technical scheme of the above pipeline robot, the cable arrangement mechanism includes a reciprocating lead screw and a slider sleeved on the reciprocating lead screw and slidably connected with the reciprocating lead screw so as to be capable of reciprocating on the reciprocating lead screw, an output end of the transmission mechanism is connected with the reciprocating lead screw and is capable of driving the reciprocating lead screw to rotate, and a through hole allowing a cable to pass through is formed on the slider.

In a preferred embodiment of the above pipeline robot, the transmission mechanism is a gear pair.

In a preferred embodiment of the pipeline robot, the front part of the cable compartment is connected to the rear part of the towing platform by a universal connector.

In a preferred technical solution of the above pipeline robot, the cable laying device further includes a cable cabin traveling mechanism, the cable cabin traveling mechanism includes a plurality of first traveling wheels disposed at the front of the cable cabin and a plurality of second traveling wheels disposed at the rear of the cable cabin, and the plurality of first traveling wheels and the plurality of second traveling wheels can jointly support the cable cabin in the pipeline and allow the cable cabin to travel in the pipeline.

In the preferred technical scheme of above-mentioned pipeline robot, the quantity of first walking wheel with the quantity of second walking wheel is three, a plurality of first walking wheels are in the front portion in cable cabin is annular evenly distributed and sets up, a plurality of second walking wheels are in the rear portion in cable cabin is annular evenly distributed and sets up.

In the preferable technical scheme of the pipeline robot, the traction platform comprises a control cabin and a control cabin walking mechanism arranged on the control cabin, a camera and a distance measuring device are arranged on the control cabin, and the control cabin is connected with the cable laying device.

In a preferred embodiment of the above pipeline robot, the control cabin traveling mechanism includes a plurality of third traveling wheels disposed at a front portion of the control cabin and a plurality of fourth traveling wheels disposed at a rear portion of the control cabin, and the plurality of third traveling wheels and the plurality of fourth traveling wheels can jointly support the control cabin in the pipeline and cause the control cabin to travel in the pipeline.

In a preferred embodiment of the above pipeline robot, the number of the third traveling wheels and the number of the fourth traveling wheels are three, the third traveling wheels are uniformly distributed in a ring shape in the front part of the control cabin, and the fourth traveling wheels are uniformly distributed in a ring shape in the rear part of the control cabin.

Under the condition that adopts above-mentioned technical scheme, the utility model discloses to put the cable device and pull the platform and be connected, make to pull the platform and can take to put the cable device and walk in the pipeline together, put the automatic cable of putting of in-process of cable device at the walking, through such setting, what make pipeline robot adopt when walking in the pipeline is the automatic mode of putting the cable, avoid needing to pull the cable and need pull the platform and provide very big traction force, improve the detection distance of pipeline robot in the pipeline, and the cable is direct when pipeline robot walks to put on the inner wall of pipeline, avoid cable and pipe inner wall to produce very big friction or cut the scratch and lead to the cable damaged with the interior object of pipeline emergence of cutting to the scratch, reduce later maintenance cost, can not influence the normal use of pipeline robot yet.

Further, the driving motor can drive the cable releasing disc to rotate to release cables, the cable arrangement mechanism can arrange the cables, the cables are prevented from being curled or wound, normal walking of the pipeline robot is guaranteed, the automatic cable arrangement can further guarantee that the cables cannot greatly rub the inner wall of the pipeline, the probability that the cables and objects in the pipeline are cut and rubbed is reduced, and damage of the cables is avoided.

Further, the combination of the reciprocating screw rod and the sliding block can realize automatic cable feeding, and the sliding block can send out and discharge cables, so that smooth cable arrangement is guaranteed.

Further, the cable cabin and the traction platform are connected through the universal connector, so that the traction of the traction platform on the cable cabin can be guaranteed, and the cable cabin is allowed to have a certain swinging amount relative to the traction platform, so that the pipeline robot can adapt to walking of some bending section parts.

Further, a plurality of first walking wheels and a plurality of second walking wheels can support the cable cabin in the pipeline jointly and allow the cable cabin to walk in the pipeline to make cable cabin self adopt wheeled walking structure, and the annular evenly distributed of a plurality of first walking wheels and a plurality of second walking wheels is provided with and does benefit to the stationarity that improves the walking of cable cabin.

Furthermore, the third traveling wheels and the fourth traveling wheels are uniformly distributed in an annular shape, so that the traveling stability of the control cabin is improved.

Drawings

Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:

fig. 1 is a schematic view of the overall structure of the pipeline robot of the present invention;

fig. 2 is a schematic structural view of the connection between the traction platform and the cable laying device of the pipeline robot of the present invention;

fig. 3 is a schematic view of the internal structure of the cable laying device of the pipeline robot of the present invention;

fig. 4 is a front view of the traction platform of the pipeline robot of the present invention;

fig. 5 is a front view of the cable laying device of the pipeline robot of the present invention;

fig. 6 is a schematic structural view of a reciprocating screw of the cable laying device of the pipeline robot of the present invention.

List of reference numerals:

1. a traction platform; 11. a control cabin; 12. a camera; 13. a distance measuring device; 14. a third travel wheel; 15. a fourth travelling wheel;

2. a cable laying device; 21. a cable compartment; 22. a drive motor; 23. laying a cable reel; 24. a transmission mechanism; 25. a cable arrangement mechanism; 251. a reciprocating screw; 252. a slider; 252a, a through port; 26. a first running wheel; 27. a second road wheel;

3. an electronic control system;

4. a cable;

5. a universal connector.

Detailed Description

First of all, it should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "front", "rear", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or component must have a specific orientation or must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be construed broadly and include, for example, detachably connected or integrally connected; either directly or indirectly through intervening components. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The utility model provides a problem that current pipeline robot that points out based on the background art adopts the towline mode to lead to its detection distance limited and later maintenance cost high, the utility model provides a pipeline robot, what aim at making pipeline robot to adopt when walking in the pipeline is the mode of automatic cable laying, avoid need to pull the cable and need pull platform and provide very big traction force, improve the detection distance of pipeline robot in the pipeline, and the cable is directly put on the inner wall of pipeline when pipeline robot walks, avoid cable and pipe inner wall to produce very big friction or cut to pieces with the object in the pipeline and rub and lead to the cable damaged, reduce later maintenance cost, can not influence pipeline robot's normal use yet.

Specifically, as shown in fig. 1, the utility model discloses a pipeline robot draws platform 1, cable laying device 2 and electrical system 3 including, draws platform 1 to be connected with cable laying device 2, and cable 4 on the cable laying device 2 is connected with electrical system 3, draws platform 1 to drive cable laying device 2 and walks together in the pipeline, and cable laying device 2 can be at the automatic cable laying of in-process of walking. During operation, the traction platform 1 drives the cable laying device 2 to walk in the pipeline, the electric control system 3 is positioned outside the pipeline, the traction platform 1 provides traction force for the cable laying device 2, the cable laying device 2 automatically releases the cable 4 in the walking process, the cable laying mode enables the cable 4 to be directly lapped on the inner wall of the pipeline, compared with the prior art that the cable laying platform can avoid the friction force between the cable 4 and the inner wall of the pipeline to influence the traction of the platform through the platform cable, the traction requirement of the traction platform 1 is reduced, the detection distance of the pipeline robot is greatly increased, the detection distance of about 300 meters in the cable laying mode in the prior art can be increased to the detection distance of more than 1000 meters, the quality of the cable laying device 2 can be reduced along with the continuous cable laying of the cable laying device 2, and the traction force required to be provided by the traction platform 1 is further reduced, the walking of the pipeline robot is facilitated. In the present invention, the cable 4 preferably adopts a common cable for power supply and communication, so that the cable 4 becomes thinner, the diameter of the cable 4 is further reduced, for example, a teflon silver-plated ultra-fine cable can be adopted, and of course, in practical application, other cables can also be adopted.

The utility model discloses in, electrical system 3 can include controller and display screen, and the controller can be integrated in the display screen, can also be connected and lie in the display screen outside being connected with the display screen electricity, and the display screen can be the touch screen, can also be the display screen that only possesses the display function. The controller is connected with the cable 4 through a communication interface, the display screen can display the data detected by all the sensors on the traction platform 1, for example, as shown in fig. 2 and 4, the traction platform 1 may include a control cabin 11 and a control cabin traveling mechanism disposed on the control cabin 11, the control cabin 11 is provided with a camera 12 and a distance measuring device 13, the control cabin 11 is connected with the cable laying device 2, the control cabin 11 may be provided with a control element, the control element is electrically connected with the camera 12 and the distance measuring device 13, the control element is also electrically connected with the control cabin travelling mechanism to operate the travelling of the control cabin travelling mechanism, the control element is electrically connected with the cable 4, the cable 4 realizes the supply of electric power on one hand, thereby guarantee that pipeline robot has sufficient electric power and can survey and walk, on the other hand can realize the transmission of data, guarantees the transport of sensor data, and the staff of being convenient for observes the condition in the pipeline through electrical system 3 outside the pipeline. Control element still is connected with cable laying device 2 electricity, control element can control cable laying device 2 cable laying, also can give electrical system 3 with the data transmission that camera 12 and range unit 13 gathered, for example, can show the video that camera 12 gathered on electrical system 3's the display screen, be convenient for observe the condition in the pipeline, can also show the distance data that range unit 13 gathered on electrical system 3's the display screen, then electrical system 3 carries out analysis and processing, thereby know the condition such as the inside defect of pipeline, range unit 13 can adopt a plurality of ultrasonic ranging appearance, or other ranging module. Of course, the automatic cable laying of the cable laying device 2 can be directly controlled by the electronic control system 3, and the sensors on the traction platform 1 are not limited to or only include the camera 12 and the distance measuring device 13, and may also include other sensors.

Preferably, as shown in fig. 2 and 3, the cable laying device 2 includes a cable compartment 21, a driving motor 22, a cable laying disc 23, a transmission mechanism 24 and a cable arrangement mechanism 25, the cable laying disc 23, the transmission mechanism 24 and the cable arrangement mechanism 25 are all disposed in the cable compartment 21, the cable compartment 21 is connected with the traction platform 1, an output shaft of the driving motor 22 is connected with the cable laying disc 23 to drive the cable laying disc 23 to rotate for cable laying, an input end and an output end of the transmission mechanism 24 are respectively connected with the cable laying disc 23 and the cable arrangement mechanism 25, and the cable arrangement mechanism 25 can discharge the cable 4 laid down by the cable laying disc 23 onto the inner wall of the pipeline. Wherein, driving motor 22 can adopt and directly drive the motor, makes cable laying plate 23 rotate in order to realize automatic cable laying through the mode that directly drives promptly, certainly, driving motor 22 can also realize cable laying plate 23's rotation through belt pair, gear pair or band pulley auxiliary drive and realize automatic cable laying, and above-mentioned driving method's adjustment does not constitute pairwise with the change the utility model discloses a restriction all should be injectd within the protection scope. The transmission mechanism 24 preferably adopts a gear pair or other mechanisms capable of realizing transmission, and by arranging the transmission mechanism 24, the rotation of the cable laying disc 23 and the cable arrangement of the cable arrangement mechanism 25 are driven by the same driving motor 22, so that the design of the product structure is simplified, and the cost is reduced. In the above, the cable compartment 21 may adopt a closed type compartment structure, in which case, a cable outlet may be formed on the cable compartment 21 so that the cables 4 discharged from the cable discharging mechanism 25 may be discharged onto the inner wall of the pipeline through the cable outlet, and of course, the cable compartment 21 may adopt a non-closed type compartment structure so that the cable discharging mechanism 25 may directly discharge the cables 4 onto the inner wall of the pipeline.

Alternatively, in the above, the cable reel 23 and the cable arrangement mechanism 25 may be driven by different motors, in which case, the aforementioned transmission mechanism 24 may be eliminated, and those skilled in the art may flexibly set the driving manner of the cable reel 23 and the cable arrangement mechanism 25, and such adjustment and change of the driving manner of the cable reel 23 and the cable arrangement mechanism 25 do not form a limitation of the present invention, and should be limited within the protection scope of the present invention.

Preferably, as shown in fig. 3 and 6, the cable arranging mechanism 25 includes a reciprocating lead screw 251 and a slide block 252 sleeved on the reciprocating lead screw 251 and slidably connected with the reciprocating lead screw 251 to be capable of reciprocating on the reciprocating lead screw 251, an output end of the transmission mechanism 24 is connected with the reciprocating lead screw 251 and capable of driving the reciprocating lead screw 251 to rotate, and a through hole 252a allowing the cable 4 to pass through is formed on the slide block 252. Specifically, the reciprocating screw 251 is formed with a left-handed groove and a right-handed groove, the left-handed groove and the right-handed groove are staggered with each other, the left end of the left-handed groove and the left end of the right-handed groove are communicated through a left transition groove, the right end of the left-handed groove and the right end of the right-handed groove are communicated through a right transition groove, the slider 252 is provided with a sliding portion capable of slidably cooperating with the left-handed groove and the right-handed groove, when the reciprocating screw 251 rotates and the sliding portion slides in the left-handed groove, the slider 252 moves in a first direction, when the sliding portion moves to the end of the left-handed groove, the sliding portion can enter the right-handed groove through the transition groove, at this time, the reciprocating screw 251 continues to rotate, the slider 252 moves in a second direction exactly opposite to the first direction, when the sliding portion moves to the end of the right-handed groove (i.e., the other end of the left-handed groove), the slider 252 again enters the left-handed groove through the transition groove, thereby moving in the first direction, in this way, the slider 252 can perform reciprocating movement, in which one of the first direction and the second direction is a direction in which the wire 4 is fed, and assuming that the first direction is a direction in which the wire 4 is fed, when the slider 252 slides in the first direction, the inner wall of the through hole 252a formed in the slider 252 rubs against the wire 4, and the wire 4 is fed by a frictional force between the slider 252 and the wire 4, thereby discharging the wire. It should be noted that, when the slider 252 slides along the second direction, a friction force is generated on the cable 4, but since the cable 4 that has been released to the inner wall of the pipe also has a friction force with the inner wall of the pipe, the cable 4 will not be pulled back when the slider 252 slides along the second direction, and by such an arrangement, automatic cable arrangement can be achieved without causing the cable 4 to curl or wind. It should be further noted that, when the pipeline robot just enters the pipeline, because the cable 4 is not yet placed on the inner wall of the pipeline, in order to ensure that the slider 252 does not pull back the cable 4 during the cable discharging process, an external pulling manner may be adopted to first discharge and place a part of the cable 4 on the inner wall of the pipeline, and after the cable 4 has been placed on the inner wall of the pipeline with a sufficient length and has a sufficient friction force, the external force action is cancelled, so that the slider 252 is prevented from pulling back the cable 4 by the friction force between the inner wall of the pipeline and the cable 4. The slider 252 may be a nut.

When the transmission mechanism 24 adopts a gear pair, a suitable transmission ratio can be set so that the cable 4 discharged by the cable discharge disc 23 in one turn just meets one stroke of the cable 4 discharged by the sliding block 252, specifically, assuming that the aforementioned first direction is the direction for discharging the cable 4, when the cable 4 on the cable discharge disc 23 is discharged in one turn, the length of the discharged cable 4 in one turn is recorded as L, and the sliding block 252 also moves for the distance of L along the first direction at this time, so that perfect cable discharge of the cable 4 is realized, and the cable 4 is prevented from being curled and wound.

Preferably, as shown in fig. 2, the front portion of the cable compartment 21 is connected to the rear portion of the traction platform 1 through the universal connector 5, when the traction platform 1 travels in the pipeline, the cable compartment 21 can be pulled to move through the universal connector 5, of course, under the condition that the space allows, the cable compartment 21 and the traction platform 1 can be set as a whole, the skilled in the art can flexibly set the above, and the adjustment and change of the traction mode of the traction platform 1 to the cable compartment 21 do not form a limitation of the present invention, which should be limited within the protection scope of the present invention.

Preferably, as shown in fig. 2 and 5, the cable unreeling device 2 further comprises a cable compartment travelling mechanism comprising a plurality of first travelling wheels 26 disposed at the front of the cable compartment 21 and a plurality of second travelling wheels 27 disposed at the rear of the cable compartment 21, the plurality of first travelling wheels 26 and the plurality of second travelling wheels 27 being capable of collectively supporting the cable compartment 21 in the duct and allowing the cable compartment 21 to travel in the duct. Those skilled in the art can flexibly set the supporting manner of the cable compartment 21 by the plurality of first traveling wheels 26 and the plurality of second traveling wheels 27 in practical applications, for example, the plurality of first traveling wheels 26 and the plurality of second traveling wheels 27 can support the cable compartment only by using a bottom supporting manner. In a preferred case, the number of the first traveling wheels 26 and the number of the second traveling wheels 27 are three, the first traveling wheels 26 are uniformly distributed in a ring shape in front of the cable compartment 21, the second traveling wheels 27 are uniformly distributed in a ring shape in back of the cable compartment 21, in this case, as shown in fig. 5, when viewed from the front of the cable compartment 21, the first traveling wheels 26 are uniformly distributed in a circumferential direction, and each two adjacent first traveling wheels 26 form an included angle of 120 ° with respect to the center, and a projection of the entire cable compartment 21 on a plane where the first traveling wheels 26 are located together is completely located in a circular space formed by the first traveling wheels 26, so as to avoid the cable compartment 21 from being scraped against the inner wall of the pipeline, and similarly, the distribution of the second traveling wheels 27 is similar to that of the first traveling wheels 26, and will not be described herein again, by such an arrangement, both the front and rear of the cable compartment 21 are stably supported within the duct, particularly for ducts having a circular cross-section. The first road wheel 26 and the second road wheel 27 can be rigidly connected with the cable compartment 21, or an elastic structure is added on the rigid connection to allow the first road wheel 26 and the second road wheel 27 to have certain self-adaptive variables so as to adapt to pipelines with different diameter sizes or pipelines with non-circular cross sections.

Preferably, as shown in fig. 2 and 4, the aforementioned control cabin traveling mechanism includes a plurality of third traveling wheels 14 disposed at the front of the control cabin 11 and a plurality of fourth traveling wheels 15 disposed at the rear of the control cabin 11, and the plurality of third traveling wheels 14 and the plurality of fourth traveling wheels 15 can collectively support the control cabin 11 in the duct and cause the control cabin 11 to travel in the duct. Similar to the first road wheels 26 and the second road wheels 27, the support of the third road wheels 14 and the fourth road wheels 15 on the control cabin 11 can be flexibly set by those skilled in the art in practical application, for example, the third road wheels 14 and the fourth road wheels 15 can support the cable cabin only in a bottom support manner. In a preferred case, the number of the third traveling wheels 14 and the number of the fourth traveling wheels 15 are three, the third traveling wheels 14 are uniformly distributed in a ring shape in the front portion of the control cabin 11, the fourth traveling wheels 15 are uniformly distributed in a ring shape in the rear portion of the control cabin 11, in this case, as shown in fig. 4, when viewed from the front portion of the control cabin 11, the third traveling wheels 14 are uniformly distributed in the circumferential direction, and every two adjacent third traveling wheels 14 form an included angle of 120 ° with respect to each other with respect to the center, a projection of the entire control cabin 11 on a plane where the three third traveling wheels 14 are located together is completely located in a circular space formed by the three third traveling wheels 14, so as to avoid rubbing of the control cabin 11 against an inner wall of a pipeline, and similarly, the distribution manner of the three fourth traveling wheels 15 is similar to that of the three third traveling wheels 14, and will not be described herein again, by this arrangement, both the front and rear of the control cabin 11 can be stably supported within the duct, particularly for a duct having a circular cross section. The third traveling wheel 14 and the fourth traveling wheel 15 may be rigidly connected to the control cabin 11, or a flexible structure may be added to the rigid connection to allow the third traveling wheel 14 and the fourth traveling wheel 15 to have a certain adaptive variable so as to adapt to pipes with different diameter sizes or some non-circular cross-sections.

Of course, in the present invention, the number of the first traveling wheel 26, the second traveling wheel 27, the third traveling wheel 14, and the fourth traveling wheel 15 is not limited to three, and may be other numbers.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions can be made on the related technical features by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions will fall into the protection scope of the invention.

Claims

1. The utility model provides a pipeline robot, its characterized in that, pipeline robot is including pulling platform (1), cable laying device (2) and electrical system (3), pull platform (1) with cable laying device (2) are connected, cable (4) on cable laying device (2) with electrical system (3) are connected, pull platform (1) and can drive cable laying device (2) walk in the pipeline together, cable laying device (2) can be at the automatic cable laying of in-process of walking.

2. The pipeline robot according to claim 1, characterized in that the cable laying device (2) comprises a cable compartment (21), a driving motor (22), a cable laying disc (23), a transmission mechanism (24) and a cable arrangement mechanism (25), the cable laying disc (23), the transmission mechanism (24) and the cable arrangement mechanism (25) are all arranged in the cable cabin (21), the cable cabin (21) is connected with the traction platform (1), an output shaft of the driving motor (22) is connected with the cable releasing disc (23) to drive the cable releasing disc (23) to rotate for releasing cable, the input end and the output end of the transmission mechanism (24) are respectively connected with the cable laying disc (23) and the cable arrangement mechanism (25), the cable arranging mechanism (25) can discharge the cable (4) laid down by the cable laying drum (23) to the inner wall of the pipeline.

3. The pipeline robot according to claim 2, characterized in that the cable arranging mechanism (25) comprises a reciprocating lead screw (251) and a slide block (252) sleeved on the reciprocating lead screw (251) and slidably connected with the reciprocating lead screw (251) so as to be capable of reciprocating on the reciprocating lead screw (251), the output end of the transmission mechanism (24) is connected with the reciprocating lead screw (251) and is capable of driving the reciprocating lead screw (251) to rotate, and a through hole (252a) allowing the cable (4) to pass through is formed in the slide block (252).

4. The pipeline robot according to claim 2, characterized in that the transmission mechanism (24) is a gear pair.

5. The pipeline robot according to claim 2, characterized in that the front part of the cable compartment (21) and the rear part of the traction platform (1) are connected by a universal connector (5).

6. The pipeline robot according to claim 5, characterized in that the cable unreeling device (2) further comprises a cable compartment traveling mechanism including a plurality of first traveling wheels (26) provided at a front portion of the cable compartment (21) and a plurality of second traveling wheels (27) provided at a rear portion of the cable compartment (21), the plurality of first traveling wheels (26) and the plurality of second traveling wheels (27) being capable of supporting the cable compartment (21) in a pipeline in common and allowing the cable compartment (21) to travel in the pipeline.

7. The pipeline robot according to claim 6, wherein the number of the first traveling wheels (26) and the number of the second traveling wheels (27) are three, the plurality of first traveling wheels (26) are uniformly arranged in a ring shape in a front portion of the cable compartment (21), and the plurality of second traveling wheels (27) are uniformly arranged in a ring shape in a rear portion of the cable compartment (21).

8. The pipeline robot according to any one of claims 1 to 7, characterized in that the traction platform (1) comprises a control cabin (11) and a control cabin walking mechanism arranged on the control cabin (11), a camera (12) and a distance measuring device (13) are arranged on the control cabin (11), and the control cabin (11) is connected with the cable laying device (2).

9. The pipeline robot according to claim 8, wherein the control pod walking mechanism comprises a plurality of third traveling wheels (14) provided in front of the control pod (11) and a plurality of fourth traveling wheels (15) provided in rear of the control pod (11), the plurality of third traveling wheels (14) and the plurality of fourth traveling wheels (15) being capable of supporting the control pod (11) in a pipeline and walking the control pod (11) in the pipeline in common.

10. The pipeline robot according to claim 9, wherein the number of the third traveling wheels (14) and the number of the fourth traveling wheels (15) are three, the plurality of third traveling wheels (14) are uniformly arranged in a circular shape in a front portion of the control cabin (11), and the plurality of fourth traveling wheels (15) are uniformly arranged in a circular shape in a rear portion of the control cabin (11).