CN218818926U - Obstacle-avoidable pipeline detection robot adaptive to pipe diameter - Google Patents
Obstacle-avoidable pipeline detection robot adaptive to pipe diameter Download PDFInfo
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- CN218818926U CN218818926U CN202222754242.2U CN202222754242U CN218818926U CN 218818926 U CN218818926 U CN 218818926U CN 202222754242 U CN202222754242 U CN 202222754242U CN 218818926 U CN218818926 U CN 218818926U
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Abstract
The utility model discloses a self-adaptive pipe diameter pipeline detection robot capable of avoiding obstacles, which comprises a main frame, a reducing mechanism, a supporting mechanism, a traveling mechanism and an obstacle avoiding mechanism; the diameter changing mechanism comprises a lead screw transmission mechanism, and a diameter changing motor is used for driving a lead screw to realize the internal and external contraction of the walking mechanism, so that the robot can adapt to pipelines with different diameters; the rotation of the steering engine is converted into the telescopic movement of the supporting shaft by the supporting mechanism, and the supporting shaft of the plurality of tires enables the robot to be tightly attached to the pipeline when the obstacle is avoided. This robot can independently adapt to the pipeline of different diameters according to reducing mechanism's drive when normally marcing, and when meetting the barrier that is difficult to stride across, supporting mechanism and obstacle avoidance mechanism mutually support, and obstacle avoidance task is carried out in drive running gear's axial rotation, can accomplish the inside detection operation task of reducing pipeline better.
Description
Technical Field
The utility model relates to an intelligent pipeline check out test set's field especially relates to a can keep away pipeline inspection robot of self-adaptation pipe diameter of barrier.
Background
The pipeline is used as conveying equipment and is widely applied to industries such as petroleum, petrochemical industry, chemical industry and the like due to the characteristics of large transportation volume, good tightness, low cost, high safety coefficient and the like, and in the operation process, the oil and gas pipeline is possibly influenced by the defects of the equipment, a welding port and external factors to cause corrosion thinning and perforation, cracks, welding defects and the like.
Pipeline inspection robot among the prior art on the market is difficult to the pipeline of the different internal diameters of effectual adaptation size when detecting in the pipeline to each pipe diameter difference, and a pipeline just will correspond a pipeline robot for detect the cost greatly increased.
Pipeline robot removes the in-process in the pipeline, must meet great barrier and be difficult to go forward to make detection robot's detection task compelled to terminate, make the unstable condition of data information appearance that detection robot gathered simultaneously, bring very big trouble to subsequent data processing. Therefore, how to realize a pipeline detection robot capable of actively avoiding obstacles and self-adapting to pipe diameters is a technical problem to be solved urgently in the technical field at present.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects existing in the prior art and providing a pipeline detection robot capable of avoiding the self-adaptive pipe diameter of the barrier.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pipeline detection robot capable of avoiding obstacles and adapting to pipe diameters comprises a main frame, a diameter changing mechanism, a supporting mechanism, a traveling mechanism and an obstacle avoiding mechanism; the method is characterized in that: the diameter-changing mechanism comprises a lead screw transmission mechanism; the lead screw transmission mechanism comprises a reducing driving motor, a lead screw, a guide slide block and a lead screw slide seat, and the reducing driving motor is fixedly arranged between a left supporting platform and a right supporting platform; the inner side end of the screw rod is fixedly connected with the reducing driving motor spindle through an elastic coupling, the outer side end of the screw rod is respectively matched and connected with a threaded hole in the guide sliding block, one end of the screw rod is fixedly installed with a central gear, and the central gear is meshed with an external gear; the guide sliding block is connected with the lead screw sliding seat.
Preferably, the supporting mechanism comprises a roller, a supporting shaft, a bearing seat, a rotary table, a connecting rod, a first fixing rod, a second fixing rod, a supporting steering engine, a first motor fixing frame, a second motor fixing frame and a supporting frame, and a main shaft of the supporting steering engine is connected with the rotary table; one end of the connecting rod is hinged with the outer end of the rotary table, and the other end of the connecting rod is hinged with the supporting shaft; the bearing seat is fixedly arranged on the support frame; the supporting steering engine is fixedly arranged on the second motor fixing frame; the second motor fixing frame is fixedly connected with the first motor fixing frame through the second fixing rod; the support frame is fixedly connected with the second motor fixing frame through the first fixing rod.
Preferably, the traveling mechanism comprises a driving motor, a pulley, a motor connecting frame, a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod form a connecting rod mechanism, one end of the first connecting rod is hinged with the lead screw sliding seat, and the other end of the first connecting rod is connected with the pulley; one end of the second connecting rod is hinged to the first connecting rod, and the other end of the second connecting rod is hinged to the supporting platform.
Preferably, the obstacle avoidance mechanism comprises an obstacle avoidance driving motor, a triangular rotating disc, a frame shaft, a fixed support, a central gear, an obstacle avoidance ring and an external gear; the obstacle avoidance driving motor is connected with the triangular rotating disk; keep away barrier intra-annular surface and be provided with the insection, frame axle final end gear with keep away barrier intra-annular surface meshing cooperation, when keeping away barrier driving motor and function, can pass through the triangle rotary disk drives the frame axle is in keep away the stable rotation in the barrier intra-annular, sun gear with the same axle center of lead screw axle, for guaranteeing the pivoted stability sun gear with set up between the lead screw slide the fixed bolster is connected together fixedly, the frame axle runs through the lead screw slide, and lead screw slide three angles department sets up the bearing frame in order to support the frame axle.
Preferably, one end of the screw penetrates through the screw sliding seat and is fixedly installed in a gear inner hole of the central gear, and the other end of the screw is fixedly connected with the reducing driving motor spindle through an elastic coupling.
Preferably, the main frame comprises three frame shafts, the frame shafts are uniformly arranged at axial positions, one end of each frame shaft penetrates through the lead screw sliding seat and is fixedly arranged with an inner hole of a gear of the external gear, and the other end of each frame shaft is fixedly connected with the supporting platform.
Preferably, a pressure sensor is arranged on the supporting shaft and used for collecting acting force applied to the roller by the supporting shaft so as to ensure that the roller can tightly cling to the inner wall of the pipeline when the pipeline robot avoids the obstacle.
Preferably, the processor is fixedly arranged between the left supporting platform and the right supporting platform.
Preferably, the supporting frame is further provided with a camera, the camera is electrically connected with the processor, the camera is used for observing the conditions in the pipe and transmitting the observation video to the processor in real time, and the processor transmits the observation video to the external computer equipment in real time through the wireless transmission module.
Compared with the prior art, the beneficial effects of the utility model are that:
1. the pipeline detection robot has good adaptability to complex environments in pipelines through the arrangement of the obstacle avoidance mechanism, and can avoid large obstacles in the advancing process, so that the pipeline detection robot adapts to various complex environments and smoothly completes a data collection task.
2. The pipeline detection robot provided by the invention can drive the travelling mechanism to contract inside and outside through the reducing motor through the arrangement of the reducing mechanism, and has better adaptability to pipelines with different pipe diameters.
3. The invention can freely adjust the axial rotation angle of the travelling mechanism through the arranged obstacle avoidance driving motor, and meanwhile, the installation and the arrangement of the gear set can ensure the stable rotation of the travelling mechanism to carry out obstacle crossing treatment on obstacles with different angles and positions.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a partial schematic view of the reducing mechanism of the present invention.
FIG. 3 is a partial schematic view of the support mechanism of the present invention.
Fig. 4 is a partial schematic view of the traveling mechanism of the present invention.
Fig. 5 is a partial schematic view of the inner side of the obstacle avoidance mechanism of the present invention.
Fig. 6 is an outer partial schematic view of the obstacle avoidance mechanism of the present invention.
FIG. 7 is a view showing a state during normal driving;
FIG. 8 is a schematic diagram of a state during obstacle avoidance driving;
in the figure, 1-a main frame; 2-a diameter-changing mechanism; 3-a support mechanism; 4-a traveling mechanism; 5-obstacle avoidance mechanism; 6-supporting the platform; 201-reducing driving motor; 202-a lead screw; 203-a guide slide block; 204-a lead screw slide; 301-a roller; 302-supporting a shaft; 303-bearing seats; 304-a turntable; 305-a connecting rod; 306-a first fixing bar; 307-a second fixing bar; 308-supporting the steering engine; 309-a first motor mount; 310-a second motor fixing frame; 311-a support frame; 401-a drive motor; 402-a pulley; 403-motor connection frame; 404-first connecting rod; 405-a second connecting rod; 501-obstacle avoidance driving motor; 502-triangular rotating disc; 503-a frame shaft; 504-a fixed support; 505-sun gear; 506-obstacle avoidance ring; 507-external gear.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the present invention belongs.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, and fig. 6, the present invention provides a technical solution: a pipeline detection robot capable of avoiding obstacles and adapting to pipe diameters comprises a main frame 1, a diameter changing mechanism 2, a supporting mechanism 3, a traveling mechanism 4 and an obstacle avoiding mechanism 5;
the specific structure of the reducing mechanism 2 is shown in fig. 2, wherein a reducing driving motor 201 is fixedly installed between the left and right supporting platforms 6, the inner side end of a lead screw 202 is fixedly connected with a main shaft of the reducing driving motor 201 through an elastic coupling, the outer side end of the lead screw 202 is respectively connected with a threaded hole in a guide sliding block 203 in a matching manner, and the guide sliding block is connected with a lead screw sliding seat 204.
The specific structure of the supporting mechanism 3 is shown in fig. 3, wherein a main shaft of a supporting steering gear 308 is connected with a turntable 304, one end of a connecting rod 305 is hinged with the outer end of the turntable 304, the other end of the connecting rod is hinged with a supporting shaft 302, a bearing seat 303 is fixedly mounted on a supporting frame 311, the supporting steering gear 308 is fixedly mounted on a second motor fixing frame 310, the second motor fixing frame 310 is fixedly connected with a first motor fixing frame 309 through a second fixing rod 307, and the supporting frame 311 is fixedly connected with the second motor fixing frame 310 through a first fixing rod 306.
The specific structure of the traveling mechanism 4 is shown in fig. 4, wherein a first connecting rod 404 and a second connecting rod 405 form a link mechanism, one end of the first connecting rod 404 is hinged to the screw sliding seat 204, the other end of the first connecting rod 404 is connected to the pulley 402, one end of the second connecting rod 405 is hinged to the first connecting rod 404, and the other end of the second connecting rod 405 is hinged to the supporting platform 6.
The obstacle avoidance mechanism 5 has a specific structure as shown in fig. 5 and 6, wherein an obstacle avoidance driving motor 501 is connected to a triangular rotating disc 502, the inner surface of an obstacle avoidance ring 506 is provided with insections, a gear at the end of a rack shaft 503 is meshed and matched with the inner surface of the obstacle avoidance ring 506, when the obstacle avoidance driving motor 501 operates, the rack shaft 503 can be driven to stably rotate in the obstacle avoidance ring 506 through the triangular rotating disc 502, a central gear 505 is coaxial with a main shaft of a lead screw 202, in order to ensure the stable rotation, a fixing bracket 504 is arranged between the central gear 505 and the lead screw sliding seat 204 and connected and fixed together, the rack shaft 503 penetrates through the lead screw sliding seat 204, and a bearing seat is arranged at a triangle of the lead screw sliding seat 204 to support the rack shaft 503.
One end of the screw 202 passes through the screw sliding seat 204 and is fixedly installed with a gear inner hole of the central gear 505, and the other end is fixedly connected with a main shaft of the reducing driving motor 201 through an elastic coupling.
The main frame 1 comprises three frame shafts 503, the frame shafts 503 are uniformly installed at axial positions, one end of each frame shaft 503 penetrates through the screw slide base 204 and is fixedly installed with a gear inner hole of the external gear 507, and the other end of each frame shaft is fixedly connected with the supporting platform 6.
Be equipped with pressure sensor on the back shaft 302 for gather the effort that back shaft 302 applyed on gyro wheel 301, in order to guarantee that the gyro wheel can tightly paste the pipeline inner wall when the pipeline robot keeps away the barrier.
The working process of the invention is as follows:
the driving process comprises the following steps: the support steering engine 308 drives the connecting rod 305 to enable the support shaft 302 to contract inwards, and the roller 301 is separated from the pipeline. Reducing motor 201 drive lead screw 202 rotates for the direction slider 203 on the lead screw 202 drives lead screw slide 204 and moves about along this lead screw, produce inside horizontal drive power, horizontal drive power acts on second connecting rod 405 through lead screw slide 204, and then drive head rod 12 and rotate with the articulated department of supporting platform 6 along second connecting rod 405, realize the flare angle increase of head rod 404, make pulley 402 paste the pipeline of different diameters, driving motor 401 makes pulley 402 rotate, thereby accomplish the forward motion.
And (3) obstacle avoidance process: when an obstacle is met, the support steering engine 308 drives the connecting rod 305 to enable the support shaft 302 to extend outwards, and the roller 301 is attached to the pipeline. The obstacle avoidance driving motor 501 operates, the frame shaft 503 is driven by the triangular rotating disc 502 to stably rotate in the obstacle avoidance ring 506, the frame shaft 503 drives the travelling mechanism 4, the reducing mechanism 2 and the main frame 1 to integrally rotate for a certain angle along the circumferential direction of the pipeline wall, and after the obstacle avoidance is judged according to information transmitted by the camera, the moving state is switched to the advancing state to travel, so that the obstacle avoidance is completed.
Although the specific embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications or variations can be made by those skilled in the art without inventive efforts on the basis of the technical solutions of the present invention.
Claims (7)
1. A self-adaptive pipe diameter pipeline detection robot capable of avoiding obstacles comprises a main frame (1), a diameter changing mechanism (2), a supporting mechanism (3), a traveling mechanism (4) and an obstacle avoiding mechanism (5); the method is characterized in that: the diameter changing mechanism (2) comprises a lead screw transmission mechanism; the lead screw transmission mechanism comprises a reducing driving motor (201), a lead screw (202), a guide sliding block (203) and a lead screw sliding seat (204), and the reducing driving motor (201) is fixedly arranged between a left supporting platform and a right supporting platform (6); the inner side end of the lead screw (202) is fixedly connected with a main shaft of the reducing drive motor (201) through an elastic coupling, the outer side end of the lead screw (202) is respectively matched and connected with a threaded hole in the guide sliding block (203), one end of the lead screw (202) is fixedly installed with a central gear (505), and the central gear (505) is meshed with an external gear (507); the guide sliding block (203) is connected with the lead screw sliding seat (204).
2. The obstacle-avoidable adaptive pipe diameter pipeline inspection robot according to claim 1, wherein: the supporting mechanism (3) comprises a roller (301), a supporting shaft (302), a bearing seat (303), a turntable (304), a connecting rod (305), a first fixing rod (306), a second fixing rod (307), a supporting steering gear (308), a first motor fixing frame (309), a second motor fixing frame (310) and a supporting frame (311), wherein a main shaft of the supporting steering gear (308) is connected with the turntable (304); one end of the connecting rod (305) is hinged with the outer end of the rotary disc (304), and the other end of the connecting rod is hinged with the supporting shaft (302); the bearing seat (303) is fixedly arranged on the supporting frame (311); the supporting steering engine (308) is fixedly arranged on the second motor fixing frame (310); the second motor fixing frame (310) is fixedly connected with the first motor fixing frame (309) through the second fixing rod (307); the supporting frame (311) is fixedly connected with the second motor fixing frame (310) through the first fixing rod (306).
3. The obstacle-avoidable pipeline detection robot with the adaptive pipe diameter according to claim 1, characterized in that: the traveling mechanism (4) comprises a driving motor (401), a pulley (402), a motor connecting frame (403), a first connecting rod (404) and a second connecting rod (405), the first connecting rod (404) and the second connecting rod (405) form a connecting rod mechanism, one end of the first connecting rod (404) is hinged to the lead screw sliding seat (204), and the other end of the first connecting rod (404) is connected with the pulley (402); one end of the second connecting rod (405) is hinged with the first connecting rod (404), and the other end of the second connecting rod is hinged with the supporting platform (6).
4. The obstacle-avoidable adaptive pipe diameter pipeline inspection robot according to claim 1, wherein: the obstacle avoidance mechanism (5) comprises an obstacle avoidance driving motor (501), a triangular rotating disc (502), a rack shaft (503), a fixed support (504), a central gear (505), an obstacle avoidance ring (506) and an external gear (507); the obstacle avoidance driving motor (501) is connected with the triangular rotating disc (502); keep away barrier ring (506) internal surface and be provided with the insection, frame axle (503) terminal gear with keep away barrier ring (506) internal surface meshing cooperation, when keeping away barrier driving motor (501) and function, can pass through triangle rotary disk (502) drive frame axle (503) are in keep away barrier ring (506) internal stability and rotate, sun gear (505) with lead screw (202) axle is coaxial, for guaranteeing the pivoted stability set up between sun gear (505) and lead screw slide (204) fixed bolster (504) are connected together, frame axle (503) run through lead screw slide (204), and lead screw slide (204) triangle department sets up the bearing frame in order to support frame axle (503).
5. The obstacle-avoidable adaptive pipe diameter pipeline inspection robot according to claim 1, wherein: one end of the lead screw (202) penetrates through the lead screw sliding seat (204) and a gear inner hole of the central gear (505) to be fixedly installed, and the other end of the lead screw penetrates through an elastic coupling and is fixedly connected with a main shaft of the reducing driving motor (201).
6. The obstacle-avoidable adaptive pipe diameter pipeline inspection robot according to claim 1, wherein: the main frame (1) comprises three frame shafts (503), the frame shafts (503) are uniformly arranged at axial positions, one end of each frame shaft penetrates through the lead screw sliding seat (204) to be fixedly arranged with a gear inner hole of the external gear (507), and the other end of each frame shaft is fixedly connected with the supporting platform (6).
7. The obstacle-avoidable pipeline detection robot with the adaptive pipe diameter according to claim 2, characterized in that: and the supporting shaft (302) is provided with a pressure sensor for acquiring acting force applied by the supporting shaft (302) on the roller (301) so as to ensure that the roller can tightly cling to the inner wall of the pipeline when the pipeline robot avoids the obstacle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222754242.2U CN218818926U (en) | 2022-10-19 | 2022-10-19 | Obstacle-avoidable pipeline detection robot adaptive to pipe diameter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222754242.2U CN218818926U (en) | 2022-10-19 | 2022-10-19 | Obstacle-avoidable pipeline detection robot adaptive to pipe diameter |
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| CN218818926U true CN218818926U (en) | 2023-04-07 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117090997A (en) * | 2023-09-01 | 2023-11-21 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
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- 2022-10-19 CN CN202222754242.2U patent/CN218818926U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117090997A (en) * | 2023-09-01 | 2023-11-21 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
| CN117090997B (en) * | 2023-09-01 | 2024-01-26 | 道雨耐节能科技宿迁有限公司 | Pipeline connection correction inspection robot |
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