CN218818924U

CN218818924U - Worm type pipeline detection robot

Info

Publication number: CN218818924U
Application number: CN202221349333.1U
Authority: CN
Inventors: 郭帅; 苏传榉; 颜冉; 常弘扬
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2022-05-31
Filing date: 2022-05-31
Publication date: 2023-04-07
Anticipated expiration: 2032-05-31

Abstract

The utility model discloses a worm type pipeline detection robot, which comprises at least three walking mechanisms, wherein two ends of a walking driving piece are respectively connected with the adjacent walking mechanisms in a universal rotation way; the walking mechanism comprises an expansion piece which expands and contracts along the radial direction of the pipeline, and the expansion piece is tightly propped against the inner wall of the pipeline after being expanded; the telescopic parts and the walking driving parts of two adjacent walking mechanisms stretch alternately. The utility model discloses a robot adopts a plurality of running gear of universal connection, can accomplish the complicated action of turning even continuous turning, and the cooperation extensible member can adapt to complicated pipeline detection work with supporting tight effect of pipeline wall.

Description

Worm type pipeline detection robot

Technical Field

The utility model relates to a pipeline inspection equipment technical field is a worm formula pipeline inspection robot particularly.

Background

At present, common pipeline detection robots are generally divided into wheeled pipeline detection robots and intelligent detection balls in pipes. The wheel type pipeline detection robot has the advantages that the wheels are driven by the motor to move linearly in the pipeline, and although the wheel type pipeline detection robot is high in operation efficiency in a straight pipe, the wheel type pipeline detection robot is poor in adaptability to movement at a bent pipe, and clamping is prone to occurring; although the intelligent pipeline detection ball can adapt to pipelines with various shapes, the motion state of the intelligent pipeline detection ball is greatly influenced by the water flow state, and the environment in the pipeline is easily misjudged, so that the intelligent pipeline detection ball is difficult to apply to complex building pipelines.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that will solve lies in how to improve pipeline robot's flexibility to adapt to complicated pipeline.

The utility model discloses a following technical means realizes solving above-mentioned technical problem:

a worm type pipeline detection robot comprises at least three walking mechanisms 1, wherein two ends of a walking driving piece 2 are respectively in universal rotation connection with the adjacent walking mechanisms 1; the walking mechanism 1 comprises an expansion piece 11 which expands and contracts along the radial direction of the pipeline, and the expansion piece 11 is tightly propped against the inner wall of the pipeline after being expanded; the expansion pieces 11 and the walking driving pieces 2 of two adjacent walking mechanisms 1 are alternately expanded and contracted.

The utility model discloses a robot adopts a plurality of running gear of universal connection, can accomplish the complicated action of turning even continuous turning, and the cooperation extensible member can adapt to complicated pipeline detection work with supporting tight effect of pipeline wall.

Further, the walking mechanism 1 comprises a base 12, a driving member, and at least two telescopic members 11; the telescopic part 11 is fixed on the base 12 through a driving part, and the driving part drives the telescopic part 11 to extend and retract in different directions.

Further, the telescopic member 11 is in sliding fit with the base 12, and the driving member includes a first motor, rotating fan blades 131 and a first connecting rod 132; the rotary blades 131 comprise blades in the same number as the telescopic members 11; one end of the first connecting rod 132 is rotatably connected with the telescopic member 11, and the other end is fixed with the blade; the first motor drives the rotating fan blade 131 to rotate, and drives the first connecting rod 132 to bend or straighten, so as to drive the telescopic member 11 to do linear reciprocating motion; the base 12 is a hollow structure, the first motor is fixed in the inner cavity of the base 12, and the output end extends out of the surface of the base 12 to be fixed with the rotating fan blades 131.

Furthermore, 3 telescopic parts 11 are circumferentially and uniformly distributed around the base 12.

Further, the base 12 includes a triangular base 121, cover plates 122 are fixed to front and back sides of the triangular base 121, and front and back sides of the extensible member 11 are slidably connected to the corresponding cover plates 122 through a sliding mechanism.

Further, the sliding mechanism includes a sliding slot 111 provided on the telescopic member 11 and a sliding key 123 extending from the base 12 to the telescopic member 11; the sliding key 123 is slidably engaged with the sliding groove 111.

Further, the sliding groove 111 extends out of an L-shaped sliding way 111' towards the base 12, the sliding key 123 is also L-shaped, the L-shaped end of the sliding key 123 is in sliding fit with the sliding way 111' to form a hand-holding posture, and a buffer spring is limited at the L-shaped end of the sliding way 111 '.

Further, the telescopic part 11 is an arched plate, and the cambered surface of the arched plate faces the pipeline wall.

Further, the cover plates 122 are circular, and the three telescopic members 11 and the triangular seat 121 are all spliced into a circular plate and accommodated between the two cover plates 122.

Further, the walking driving member 2 is an electric cylinder.

The utility model has the advantages that:

Especially, the rotating fan blades are matched with the first connecting rod, a plurality of telescopic pieces of one walking mechanism can be driven by only one motor, the actions are consistent, the energy consumption is low, and the weight of the robot is reduced. The sliding mechanism with the shaking posture is adopted, and the buffer spring is matched, so that the smooth sliding process of the telescopic piece can be ensured, and the influence on the structure after hard collision is reduced.

The telescopic part is contained between the front cover plate and the rear cover plate after being contracted, and the telescopic part and the matched sliding mechanism can be protected.

Drawings

FIG. 1 is a schematic side view of a worm-shaped pipeline robot according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of an axial structure of a worm type pipeline robot according to an embodiment of the present invention;

FIG. 3 is a schematic view of the cover plate hidden in FIG. 2;

FIG. 4 is an enlarged view of the part A in FIG. 3;

fig. 5 is a schematic structural diagram of the walking driving member in the embodiment of the present invention.

Detailed Description

To make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

The embodiment provides a worm-type pipeline inspection robot, as shown in fig. 1 and 2, including at least three traveling mechanisms 1, and 4 traveling mechanisms 1 are shown in fig. 1 of the embodiment, so that the traveling is more stable. Two ends of the walking driving part 2 are respectively and universally rotationally connected with two adjacent walking mechanisms 1; the running mechanism 1 comprises telescopic parts 11 which stretch out and draw back along the radial direction of the pipeline, and the telescopic parts 11 of two adjacent running mechanisms 1 stretch out and draw back alternately. Two adjacent walking driving members 2 are also alternately operated, thereby realizing walking. The concrete structure is as follows:

as shown in fig. 3, the traveling mechanism 1 includes a base 12, a driving member, at least two telescopic members 11; in this embodiment, 3 telescopic pieces 11 are adopted and circumferentially and uniformly distributed around the base 12. The base 12 includes a triangular seat 121, a cover plate 122 (bolt fastening or welding) is fixed on the front and back of the triangular seat 121, the front and back of the extensible member 11 are connected with the corresponding cover plate 122 in a sliding manner through sliding mechanisms, and two sets of sliding mechanisms are arranged on the front and back of the extensible member, so that the stability of the sliding process is ensured. As shown in fig. 4, the sliding mechanism includes a sliding slot 111 opened on the telescopic member 11 and a sliding key 123 extending from the base 12 to the telescopic member 11 (the sliding key 123 shown in fig. 4 is on the rear cover of the triangular seat 121, and the front sliding key 123 is omitted along with the front cover); the sliding key 123 is slidably engaged with the sliding groove 111. In order to extend the stroke of the extensible member 11, the sliding groove 111 of the embodiment extends out of an L shape towards the base 12, the sliding key 123 is also in an L shape, the L-shaped end of the sliding key 123 is in sliding fit in the sliding rail 111 'to form a hand-holding posture, a buffer spring is limited at the L-shaped end of the sliding rail 111', hard collision between the extensible member 11 and the base 12 in the extensible process is guaranteed, and structural deformation or damage is reduced. In this embodiment, the front and back sides of the telescopic member 11 are slidably connected to the two cover plates 122 on the front and back sides of the base 12, respectively. The driving member includes a first motor (not shown), a rotating blade 131, and a first link 132; the rotary blades 131 comprise a number of blades corresponding to the number of the telescopic members 11; one end of the first connecting rod 132 is rotatably connected with the telescopic member 11, and the other end is fixed with the blade; the first motor drives the rotating fan blades 131 to rotate, and drives 3 first connecting rods 132 to synchronously bend or straighten, so as to drive the telescopic part 11 to do linear reciprocating motion; the triangular seat 121 is a hollow structure, the first motor is fixed in the inner cavity of the base 12, and the output end extends out of the surface of the base 12 and is fixed with the center of the rotating fan blade 131. In this embodiment, the rotating fan blades 131 are three-bladed, and the blades and the end of the first connecting rod 132 can be fixed by welding, bolt fastening, socket joint (the blades are cylindrical structures), and the like.

In this embodiment, the expansion element 11 is a cambered plate, the cambered surface of which faces the pipe wall. In order to increase the friction force, an anti-slip layer is fixed on the cambered surface of the cambered plate, and a rubber layer is generally adopted, so that the cambered plate is anti-slip and wear-resistant. The cover plate 122 is circular, and three telescopic members 11 and the triangular base 121 are all spliced into a circular plate and accommodated between the two cover plates 122.

The walking driving member 2 in this embodiment comprises a second motor 21, an eccentric wheel 22, and a second connecting rod 23; the base of the second motor 21 is rotatably connected with one of the two adjacent running mechanisms 1 through a universal joint, the output end of the second motor is fixed with the eccentric wheel 22, one link arm of the second connecting rod 23 is fixed with the eccentric wheel 22, the other link arm penetrates through the limiting block 24 to be rotatably connected with the cover plate 122 of the other running mechanism 1 in a universal manner, after the second motor 21 is started, the eccentric wheel 22 is driven to rotate, so that the second connecting rod 23 is driven to move, and due to the limiting of the limiting block 24, the link arm penetrating through the limiting block 24 can only do linear telescopic motion, so that the running mechanism behind is driven to finish running. Of course, the travel driving member may also be an electric cylinder, as shown in fig. 1, and a cylinder base and an output end of the electric cylinder are respectively and rotatably connected with two adjacent travel mechanisms 1 through universal joints. In this embodiment, the stopper is fixed on the frame of second motor 21, and the specific size of frame sets up according to actual need, and it can to satisfy installation and position relation between stopper and the second connecting rod.

In the specific work, the worm robot is placed in a pipeline, and when the device moves, two non-adjacent telescopic pieces 11 in the four walking mechanisms 1 expand to support the pipe wall; the other two non-adjacent telescopic members 11 are retracted. At the same time, the second connecting rod 23 or electric cylinder behind the retracted running gear 1 is lengthened, and the second connecting rod 23 or electric cylinder in front is shortened. Because the expanded running gear 1 and the pipe wall are kept relatively static under the action of friction force, the reduction running gear 1 moves forwards under the pushing of the running driving piece 2. The contracted running gear 1 stops advancing after reaching a certain position and expands until supporting the pipe wall, and the previously expanded running gear 1 contracts and moves forwards under the propelling of the running driving piece 2, so that the reciprocating motion is completed and the forward movement is completed. Because both ends of the walking driving piece 2 are universally connected with the two adjacent walking mechanisms 1, the walking driving piece can adapt to the curve of the pipeline and can walk more flexibly.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A worm type pipeline detection robot is characterized by comprising at least three walking mechanisms (1), wherein two ends of a walking driving piece (2) are respectively in universal rotation connection with the adjacent walking mechanisms (1); the travelling mechanism (1) comprises an expansion piece (11) which expands and contracts along the radial direction of the pipeline, and the expansion piece (11) is tightly propped against the inner wall of the pipeline after being expanded; the telescopic pieces (11) and the walking driving pieces (2) of two adjacent walking mechanisms (1) are alternately telescopic.

2. The worm-type pipeline inspection robot according to claim 1, characterized in that the walking mechanism (1) comprises a base (12), a driving member, at least two said telescoping members (11); the telescopic piece (11) is fixed on the base (12) through the driving piece, and the driving piece drives the telescopic piece (11) to stretch and retract in different directions.

3. The worm-type pipeline detecting robot according to claim 2, wherein the telescopic member (11) is in sliding fit with the base (12), and the driving member comprises a first motor, a rotating fan blade (131) and a first connecting rod (132); the rotating fan blades (131) comprise blades with the same number as the telescopic pieces (11); one end of the first connecting rod (132) is rotatably connected with the telescopic piece (11), and the other end of the first connecting rod is fixed with the blade; the first motor drives the rotating fan blades (131) to rotate, and drives the first connecting rods (132) to bend or unbend, so that the telescopic pieces (11) are driven to do linear reciprocating motion; the base (12) is of a hollow structure, the first motor is fixed in an inner cavity of the base (12), and an output end of the first motor extends out of the surface of the base (12) and is fixed with the rotating fan blades (131).

4. A worm-type pipe inspection robot according to claim 3, characterized in that 3 telescopic members (11) are circumferentially distributed around the base (12).

5. The worm-type pipeline detecting robot according to claim 4, wherein the base (12) comprises a triangular seat (121), cover plates (122) are fixed on the front and back sides of the triangular seat (121), and the front and back sides of the telescopic piece (11) are connected with the corresponding cover plates (122) in a sliding mode through a sliding mechanism.

6. The worm-type pipeline inspection robot according to claim 5, wherein the sliding mechanism comprises a sliding groove (111) formed on the telescopic member (11) and a sliding key (123) extending from the base (12) to the telescopic member (11); the sliding key (123) is in sliding fit with the sliding groove (111).

7. The worm-type pipeline detecting robot according to claim 6, wherein the sliding chute (111) extends out of an L-shaped sliding way (111 ') towards the base (12), the sliding key (123) is also L-shaped, the L-shaped end of the sliding key (123) is in sliding fit in the sliding way (111 ') to form a hand-holding gesture, and a buffer spring is limited at the L-shaped end of the sliding way (111 ').

8. The worm-type pipeline inspection robot according to any one of claims 1 to 7, characterized in that the telescopic member (11) is an arcuate plate, the arc of which faces the pipeline wall.

9. The worm-type pipeline inspection robot according to claim 5, wherein the cover plate (122) is circular, and three telescopic members (11) are all assembled with the triangular seat (121) to form a circular plate and accommodated between the two cover plates (122).

10. A worm-type pipeline inspection robot according to any of claims 1 to 4, characterized in that the walking drive (2) is an electric cylinder.