CN220205069U - Telescopic pipeline robot - Google Patents

Abstract

The utility model discloses a telescopic pipeline robot which comprises a telescopic device, wherein universal movable devices are respectively arranged at two ends of the telescopic device, each universal movable device is fixedly connected with a deformation jacking device, and each deformation jacking device comprises at least two deformation strips and a telescopic rod. The telescopic device can realize front-back telescopic and is used for driving the front end and dragging the deformation propping device at the rear end to move back and forth, and meanwhile, the deformation propping device is combined to prop against the pipe wall, so that the robot can climb in the pipeline. Compared with the prior art, the telescopic pipeline robot has the advantages that the mechanical jacking mode is adopted, enough force is provided for guaranteeing the jacking of the pipe wall, the robot is not easy to slide, and the performance is stable and durable.

Description

Telescopic pipeline robot

Technical Field

The present utility model relates to a telescopic pipe robot, and more particularly, to an apparatus and method for a micro pipe robot advancing by telescoping.

Background

The moving mode of the pipeline robot at present adopts a mode of wheel movement, and because the wheel movement needs enough friction force, the existing pipeline robot is overlarge in body and is difficult to enter the interior operation of the miniature pipeline such as a power plant steam reflux pipeline, the efficiency of the detection and maintenance operation of the miniature pipeline is influenced, and an electric power operation enterprise has great technical requirements on the miniature pipeline robot.

The prior art CN105697927a discloses a method for realizing the residence or movement of a micro-pipeline robot in a pipeline by utilizing the bending property of an IPMc material after being electrified and by bending deformation to prop against the inner wall of the pipeline, but the IPMc material is used as an artificial muscle material, is greatly limited by working environment, has unstable deformation and relaxation phenomenon in working and performance in long-term working process, has the defects of small driving force and short service life, and limits the practical extent. The telescopic pipeline robot provided by the utility model has the advantages that the telescopic pipeline robot adopts a mechanical propping mode, has enough force to ensure the pipe wall to be propped up, does not slide down, and has stable performance and can be suitable for more environments.

Disclosure of Invention

The utility model relates to a telescopic pipeline robot, and aims to solve the problems that the existing pipeline robot is overlarge in volume and difficult to enter into a miniature pipeline with a centimeter diameter level for detection, or needs to rely on special materials and the like.

In order to achieve the above purpose, the present utility model adopts the following technical scheme:

according to one scheme of the utility model, the telescopic pipeline robot comprises a telescopic device, universal movable devices are respectively arranged at two ends of the telescopic device, each universal movable device is fixedly connected with a deformation jacking device, and each deformation jacking device comprises at least two deformation strips and a telescopic rod.

In the above technical scheme, further, the telescopic device is an electric telescopic mechanism, and the front and rear deformation jacking devices are driven to move forwards and backwards through telescopic driving. And meanwhile, the deformation propping device is combined to prop against the pipe wall, so that the robot can climb in the pipeline.

Further, an outer fixing cylinder is arranged outside the telescopic rod, one end of the telescopic rod is fixed with the outer fixing cylinder, the other end of the telescopic rod is a movable end of the telescopic rod, a fixing ring is fixedly connected with the telescopic rod, one end of the deformation strip is fixed with the outer fixing cylinder, and the other end of the deformation strip is fixed with the fixing ring.

Further, a groove along the axis of the outer fixed cylinder is formed in the outer fixed cylinder, the movable end of the telescopic rod is fixedly connected with the fixed ring through a connecting rod, and the connecting rod penetrates through the groove and slides in the groove along with the telescopic rod.

Further, the movable end of the universal movable device is fixedly connected with the corresponding deformation jacking device and used for controlling the deformation jacking device to rotate in any direction.

Compared with the prior art, the utility model has the advantages and innovations that:

1. the robot uses the telescoping device as the main part, and its cylindricality structure can reduce the volume of robot body, is favorable to the microminiaturization of robot design, and then realizes that the robot gets into miniature pipeline operation.

2. The universal movable device is combined to realize structural flexibility, and the device can adapt to complex and changeable pipelines.

3. The deformation jacking method can move on the inner walls of various smooth pipelines.

4. The telescopic pipeline robot provided by the utility model realizes telescopic movement in a pipeline through a mechanical structure, has stronger stability and durability, and can play a great role in detecting and maintaining miniature and changeable pipelines.

Drawings

FIG. 1 is a schematic view of the overall structure of a telescoping tube robot of the present utility model;

FIG. 2 is an enlarged view of a portion of a telescoping tube robot deformation jack of the present utility model;

FIG. 3 is an enlarged view of a portion of the universal mobile unit and telescoping device of the present utility model;

FIG. 4 is a view showing the robot entering the interior of a pipeline according to the present utility model;

in the figure: 10-telescoping device, 11-universal movable device, 12-deformation jack device, 13-deformation strip, 14-telescopic link, 15-solid fixed ring, 16-outer fixed cylinder.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the present utility model; all other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

According to a specific embodiment of the present utility model, a telescopic pipe robot includes a telescopic device 10, as shown in fig. 1 and 3, two ends of the telescopic device 10 are respectively provided with a universal movable device 11, and each universal movable device 11 is fixedly connected with a deformation tightening device 12.

The telescopic device 10 may be an electric telescopic mechanism, for example, may be implemented by adopting a series of miniature electric push rod telescopic rods LA-T8, etc., and may be controlled by connecting a cable to a control end disposed outside the pipeline, or may not be provided with a cable, an electric push rod with a wireless controller may be selected, and the telescopic device may be controlled by remote control, or may be controlled by a control system, where the control system may include a voice coil motor with a push rod knocking device disposed at a starting point of the robot and contacting an outer wall of the pipeline, and an embedded system with a pickup on the robot, where the voice coil motor may generate sound waves with the same frequency by specific frequencies of several knocked pipes, and the pickup of the robot may acquire sound waves with specific frequencies by using a characteristic of strong solid-to-sound wave transmissibility and may be controlled according to a predefined function; the telescopic rod can be controlled to stretch back and forth, the telescopic device can be made of a flexible material capable of being bent or a rigid material capable of being unbent, and the telescopic device can be a device capable of completing stretching and drawing the front end and dragging the rear end, and when the telescopic device stretches back and forth, the deformation jacking device 12 moves back and forth along with the telescopic device.

As shown in fig. 2, the deformation jacking device 12 includes four deformation bars 13 and a telescopic rod 14, an outer fixing cylinder 16 is fixedly arranged outside the telescopic rod 14 to protect the telescopic rod 14 from entering foreign matters such as dust, so that the telescopic rod has a longer service life, one end of the outer fixing cylinder 16 is provided with four grooves parallel to the axis of the outer fixing cylinder, the end is also provided with a fixing ring 15, four connecting rods (not shown in the drawing) are arranged in the outer fixing cylinder, one end of each connecting rod is fixedly connected with the movable end of the telescopic rod 14, the other end is connected with the fixing ring 15 through a corresponding groove on the outer fixing cylinder 16, one end of each deformation bar 13 is fixedly connected with the fixing ring 15, the other end is fixedly connected with the outer fixing cylinder 16, the control method of the telescopic rod 14 may be the same as that of the telescopic device 10, and may be controlled by connecting a cable to the outside of the pipeline, or may be controlled by a remote control system comprising the voice coil motor and the pickup, or may be controlled by a control system comprising the voice coil motor and the pickup, when the telescopic rod 14 stretches, the fixing ring 15 stretches and contracts along with the movable end of the telescopic rod relative to the outer fixing cylinder 16, so that one end of each deformation strip 13 moves along with the fixing ring 15, and the other end of each deformation strip keeps motionless with the outer fixing cylinder 16, so that the deformation strip bends and deforms to prop against the inner wall of the pipeline, thereby forming a deformation propping device with a friction force to fix the one end, and when the telescopic rod 14 resets, the corresponding deformation strip 13 recovers, thereby realizing the fixation and relaxation of the deformation propping device.

The universal movable device 11 may be a universal spherical hinge or other universal movable mechanisms, and the movable end of the universal spherical hinge is fixedly connected with one end of the deformed tightening device 12 to control the deformed tightening device 12 to rotate in any direction, so that when the pipeline is in a bending state, the universal movable device can freely rotate, and the angle is adjusted along with the bending degree of the pipeline, so that the deformed tightening device 12 can adjust the movement angle at any time.

Specifically, when the device is in the pipeline and needs to move, as shown in fig. 4, the telescopic rod 14 in the deformation propping device 12 at the rear end in the movement direction stretches to drive the corresponding fixing ring 15 to stretch to drive the deformation body 13 to do bending movement, so that the four deformation bodies 13 are deformed to prop against the inner wall of the pipeline to form friction force to fix one end of the side, then the telescopic rod 14 in the deformation propping device 12 at the front end in the movement direction resets to drive the corresponding fixing ring 15 to reset to drive the corresponding four deformation strips 13 to reset to loosen the pipeline, and then the telescopic device 10 works to stretch out as an electric telescopic mechanism, so that the deformation propping device at the front end can move forwards in the pipeline; then the telescopic rod in the front end deformation propping device stretches, the deformation propping device 12 at the rear end of the movement direction resets while the deformation body is bent and deformed to prop against the inner wall of the pipeline, the deformation body resets, the inner wall of the pipeline is loosened, then the electric telescopic mechanism works to reset, the deformation propping device 12 at the rear end of the movement direction is driven to move forwards, the steps above are repeated, and the robot can move forwards.

The foregoing detailed description is provided to illustrate the present utility model and not to limit the utility model, and any modifications and changes made to the present utility model within the spirit of the present utility model and the scope of the appended claims fall within the scope of the present utility model.

Claims (5)

1. The utility model provides a flexible pipeline robot, its characterized in that, includes telescoping device (10), telescoping device (10) both ends are equipped with universal movable device (11) respectively, every fixedly connected with warp tight device (12) in top on universal movable device (11) respectively, warp tight device (12) including two at least deformation strip (13) and a telescopic link (14), the both ends of deformation strip (13) respectively with the both ends of telescopic link (14) are fixed.

2. A telescopic pipe robot according to claim 1, characterized in that the telescopic device (10) is an electric telescopic mechanism, and the telescopic device drives the front and rear deformation pushing devices (12) to move forwards and backwards.

3. The telescopic pipe robot according to claim 1, wherein an outer fixing cylinder (16) is arranged outside the telescopic rod (14), one end of the telescopic rod is fixed with the outer fixing cylinder (16), the other end of the telescopic rod is a telescopic rod movable end, a fixing ring (15) is fixedly connected, one end of the deformation strip is fixed with the outer fixing cylinder (16), and the other end of the deformation strip is fixed with the fixing ring (15).

4. A telescopic pipe robot according to claim 3, characterized in that the outer fixed cylinder (16) is provided with a slot along the axis of the outer fixed cylinder, the movable end of the telescopic rod (14) is fixedly connected with a fixed ring (15) through a connecting rod, and the connecting rod passes through the slot and slides in the slot along with the telescopic rod (14).

5. The telescopic pipeline robot according to claim 1, wherein the movable end of the universal movable device (11) is fixedly connected with the corresponding deformation propping device (12) for controlling the deformation propping device (12) to rotate in any direction.