阅读说明：本技术 管道机器人 (Pipeline robot ) 是由 王增义 李文章 徐克举 周明连 杨超 赵东方 闫睿 李银 张俊杰 关萍 于 2019-12-24 设计创作，主要内容包括：一种管道机器人,包括：前运动组件,前运动组件包括前安装盘(3)、前撑壁缸(1)、多个前行走机构(11),前撑壁缸(1)连接于前安装盘(3),多个前行走机构连接于前撑壁缸(1),在前撑壁缸(1)的驱动下伸缩；后运动组件,后运动组件包括后安装盘(4)、后撑壁缸(2)、多个后行走机构,后撑壁缸(2)连接于后安装盘(4),多个后行走机构连接于后撑壁缸(2),在后撑壁缸(2)的驱动下伸缩；伸缩缸(5),伸缩缸(5)连接于后安装盘和前安装盘(3)之间。管道机器人能够实现对中性撑壁迈步行走的。(A pipeline robot, comprising: the front motion assembly comprises a front mounting disc (3), a front supporting wall cylinder (1) and a plurality of front travelling mechanisms (11), the front supporting wall cylinder (1) is connected to the front mounting disc (3), the plurality of front travelling mechanisms are connected to the front supporting wall cylinder (1), and the front travelling mechanisms stretch under the driving of the front supporting wall cylinder (1); the rear motion assembly comprises a rear mounting plate (4), a rear support wall cylinder (2) and a plurality of rear traveling mechanisms, the rear support wall cylinder (2) is connected to the rear mounting plate (4), the plurality of rear traveling mechanisms are connected to the rear support wall cylinder (2), and the rear traveling mechanisms stretch under the driving of the rear support wall cylinder (2); the telescopic cylinder (5) is connected between the rear mounting disc and the front mounting disc (3). The pipeline robot can realize walking to the neutral wall-supporting step.)

1. A pipeline robot, comprising:

the front motion assembly comprises a front mounting plate (3), a front supporting wall cylinder (1) and a plurality of front traveling mechanisms (11), wherein the front supporting wall cylinder (1) is connected to the front mounting plate (3), and the plurality of front traveling mechanisms are connected to the front supporting wall cylinder (1) and extend under the driving of the front supporting wall cylinder (1);

the rear motion assembly comprises a rear mounting disc (4), a rear support wall cylinder (2) and a plurality of rear traveling mechanisms, wherein the rear support wall cylinder (2) is connected to the rear mounting disc (4), and the plurality of rear traveling mechanisms are connected to the rear support wall cylinder (2) and extend and retract under the driving of the rear support wall cylinder (2);

the telescopic cylinder (5) is connected between the rear mounting disc and the front mounting disc (3).

2. The pipeline robot according to claim 1, characterized in that the front running gear (11) and the rear running gear each comprise:

a bidirectional wheel (14);

a pair of bidirectional wheel fixing plates (15), the bidirectional wheel (14) being connected between first ends of the pair of bidirectional wheel fixing plates (15) by a bidirectional wheel hinge pin (30);

a brake cylinder fixing block (17), the brake cylinder fixing block (17) being connected between the second ends of the pair of bidirectional wheel fixing plates (15);

a brake cylinder (16), wherein the cylinder body of the brake cylinder (16) is connected to the brake cylinder fixing block (17), and the piston of the brake cylinder (16) can extend to the surface of the bidirectional wheel to perform braking.

3. The pipeline robot as claimed in claim 2, further comprising a front disk U-shaped seat fixing block (8) and a rear disk U-shaped seat fixing block;

the front disk U-shaped seat fixing block (8) is connected to a piston rod of the front supporting wall cylinder (1), the second end parts of a pair of bidirectional wheel fixing plates (15) of the front travelling mechanism are connected to one end of a front disk supporting wall rod (10), the other end of the front disk supporting wall rod (10) is hinged to the front disk U-shaped seat fixing block (8) through a front disk U-shaped seat (9), and the middle part of the front disk supporting wall rod (10) is hinged to the front mounting disk (3) through a first connecting rod (7);

the rear disk U-shaped seat fixing block is connected to a piston rod of the rear supporting wall cylinder (2), the second end portion of the pair of two-way wheel fixing plates (15) of the rear traveling mechanism is connected to one end of the rear disk supporting wall rod, the other end of the rear disk supporting wall rod is hinged to the rear disk U-shaped seat fixing block through the rear disk U-shaped seat, and the middle of the rear disk supporting wall rod is hinged to the rear mounting disk (4) through the second connecting rod.

4. The pipeline robot according to claim 3, wherein the front disk U-shaped seat fixing block (8) is a pentagonal prism, the number of the front traveling mechanisms is four, the center of the front disk U-shaped seat fixing block (8) is provided with a first shaft hole for the piston of the front support wall cylinder (1) to pass through, a pair of first connecting holes for connecting the front disk U-shaped seat (9) are respectively arranged on four sides, the distance between the four sides and the center of the first shaft hole is equal and symmetrically arranged relative to the center of the first shaft hole, and each front traveling mechanism is connected on one side through one front disk U-shaped seat (9).

5. The pipeline robot as claimed in claim 4, wherein the rear U-shaped seat fixing block is a pentagonal prism, the number of the rear traveling mechanisms is three, a second shaft hole for the piston of the rear supporting wall cylinder (2) to pass through is formed in the center of the rear U-shaped seat fixing block, the rear U-shaped seat includes first to fifth side surfaces connected end to end, the first side surface is perpendicular to the second and fifth side surfaces, the second side surface is parallel to the fifth side surface, the third and fourth side surfaces are connected to form a V shape, a pair of second connecting holes for connecting the rear U-shaped seat are formed in the first, third and fourth side surfaces, respectively, and the first, third and fourth side surfaces are equidistant from the center of the second shaft hole, and each rear traveling mechanism is connected to the first side surface through one rear U-shaped seat, And on the third side surface or the fourth side surface, the symmetrical center plane of the rear disk U-shaped seat fixing block is superposed with the symmetrical center plane of the front disk U-shaped seat fixing block.

6. The pipeline robot of claim 1, further comprising a pneumatic control system, the pneumatic control system comprising:

and the air inlet of the three-position five-way valve (27) is connected with the air source (18), and the air outlet of the three-position five-way valve (27) is respectively connected with the rodless cavities of the front support wall cylinder (1) and the rear support wall cylinder (2).

7. The pipeline robot of claim 6, wherein the pneumatic control system further comprises:

a mobile switch (20);

the air inlet of the first two-position five-way single air control valve (23) is connected with an air source (18) through the action switch (20), the left air outlet is connected with a rodless cavity of a brake cylinder of the front walking mechanism and a rod cavity of a brake cylinder of the rear walking mechanism, and the right air outlet is connected with a rod cavity of a brake cylinder of the front walking mechanism and a rodless cavity of a brake cylinder of the rear walking mechanism;

the air inlet of the second two-position five-way single-air control valve (24) is connected with an air source (18) through the action switch (20), the left air outlet is connected with a rod cavity of the telescopic cylinder (5), and the right air outlet is connected with a rodless cavity of the telescopic cylinder (5);

the air inlets of the first reversing valve (25) and the second reversing valve (26) are connected with the air source (18) through the action switch (20), the air outlet of the first reversing valve (25) is connected with the right pneumatic control reversing port of the second two-position five-way single pneumatic control valve (24), and the air outlet of the second reversing valve (26) is connected with the left pneumatic control reversing port of the second two-position five-way single pneumatic control valve (24);

a third two-position five-way single-air control valve (22), wherein a middle air inlet of the third two-position five-way single-air control valve (22) is connected with an air outlet of the first reversing valve (25), a left air inlet and a right air inlet are connected with an air outlet of the second reversing valve (26), an air control reversing port of the third two-position five-way single-air control valve (22) is sequentially connected with a front reversing switch (21) and a rear reversing switch (21), a motion switch (20) is connected with the air source (18), a left air outlet of the third two-position five-way single-air control valve (22) is connected with a left air control reversing port of the first two-position five-way single-air control valve (23), and a right air outlet is connected with a right air control reversing port of the first two-position five-way single.

8. The pipeline robot of claim 6 or 7, wherein the pneumatic control system further comprises:

and the pneumatic main switch (19) is arranged at the outlet of the air source (18).

9. The pipeline robot as claimed in claim 7, wherein the first and second reversing valves (25, 26) are mechanical reversing valves, and are disposed on the inner side of the front mounting plate (3), a wire rope (28) is sleeved at a reversing button of the second reversing valve (26), and the other end of the wire rope (28) is connected to the cylinder head of the telescopic cylinder (5) through a wire rope fixing bolt (29).

10. The pipe robot according to claim 9, characterized in that the cylinder of the telescopic cylinder (5) is arranged on the rear mounting plate (4), and the piston rod is connected to the front mounting plate (3); when the piston rod of the telescopic cylinder (5) is contracted to the bottom, the cylinder head of the telescopic cylinder (5) touches the reversing button of the first reversing valve (25), and when the piston rod of the telescopic cylinder (5) is extended to the bottom, the steel wire rope (28) is stretched to pull the reversing button of the second reversing valve (26).

Technical Field

The invention relates to the field of municipal drainage equipment, in particular to a pipeline robot.

Background

The drainage pipeline is a system consisting of a pipe duct for collecting and discharging sewage, wastewater and rainwater and accessory facilities thereof. Drainage pipes, including main pipes, branch pipes and pipes leading to a treatment plant, whether built on a street or anywhere else, should be counted as drainage pipes, as long as they function as drainage pipes. The pipeline robot is a mechanical, electrical and instrument integrated system which automatically walks in a pipeline, carries one or more sensors and operating machinery, and performs a series of pipeline operations under the remote control operation of workers or the automatic control of a computer.

Can realize the commonality pipeline robot of the centering walking of the inside concentric direction of pipeline, the accessible is equipped with different instrument formula instrument, for example radar, cutter etc. realizes different functions such as pipeline detection, old and useless pipeline breakage and pipeline restoration, has very important meaning. However, the current wheeled or tracked robot cannot realize the centering walking which keeps the pipeline concentric under different pipe diameters.

Therefore, it is desired to develop a new type of pipeline robot to realize the neutral walking in the drainage pipeline.

Disclosure of Invention

The invention aims to provide a pipeline robot capable of walking on a neutral wall supporting step.

The invention adopts the following solution:

a pipeline robot, comprising:

the front motion assembly comprises a front mounting disc, a front supporting wall cylinder and a plurality of front traveling mechanisms, the front supporting wall cylinder is connected to the front mounting disc, and the plurality of front traveling mechanisms are connected to the front supporting wall cylinder and driven by the front supporting wall cylinder to stretch and retract;

the rear motion assembly comprises a rear mounting disc, a rear support wall cylinder and a plurality of rear traveling mechanisms, the rear support wall cylinder is connected to the rear mounting disc, and the plurality of rear traveling mechanisms are connected to the rear support wall cylinder and driven by the rear support wall cylinder to stretch and retract;

the telescopic cylinder is connected between the rear mounting disc and the front mounting disc.

Preferably, the front traveling mechanism and the rear traveling mechanism each include:

a bidirectional wheel;

a pair of bidirectional wheel fixing plates, the bidirectional wheels being connected between first ends of the pair of bidirectional wheel fixing plates by bidirectional wheel hinge pins;

a brake cylinder fixing block connected between the second ends of the pair of bidirectional wheel fixing plates;

and a cylinder body of the brake cylinder is connected to the brake cylinder fixing block, and a piston of the brake cylinder can extend out to the surface of the bidirectional wheel to perform braking.

Preferably, the pipeline robot further comprises a front disk U-shaped seat fixing block and a rear disk U-shaped seat fixing block;

the front disk U-shaped seat fixing block is connected to a piston rod of the front supporting wall cylinder, the second end parts of a pair of bidirectional wheel fixing plates of the front traveling mechanism are connected to one end of a front disk supporting wall rod, the other end of the front disk supporting wall rod is hinged to the front disk U-shaped seat fixing block through a front disk U-shaped seat, and the middle part of the front disk supporting wall rod is hinged to the front mounting disk through a first connecting rod;

the rear disk U-shaped seat fixing block is connected to a piston rod of the rear supporting wall cylinder, the second end portions of the pair of bidirectional wheel fixing plates of the rear traveling mechanism are connected to one end of a rear disk supporting wall rod, the other end of the rear disk supporting wall rod is hinged to the rear disk U-shaped seat fixing block through a rear disk U-shaped seat, and the middle of the rear disk supporting wall rod is hinged to the rear mounting disk through a second connecting rod.

Preferably, the chassis U type seat fixed block before is the pentaprism, the quantity of preceding running gear is four, the center of chassis U type seat fixed block is equipped with the confession prop the first shaft hole that the piston of wall jar passed before, is equipped with respectively on four sides and is used for connecting a pair of first connecting hole of chassis U type seat before, four sides with the distance at the center in first shaft hole equals and for the centrosymmetric setting in first shaft hole, every preceding running gear is through one the chassis U type seat is connected in one before the side is last.

Preferably, the rear disc U-shaped seat fixing block is a pentagonal prism, the number of the rear traveling mechanisms is three, a second shaft hole for the piston of the rear support wall cylinder to pass through is formed in the center of the rear disc U-shaped seat fixing block, the rear disc U-shaped seat comprises a first side surface to a fifth side surface which are connected end to end, the first side surface is perpendicular to the second side surface and the fifth side surface, the second side surface is parallel to the fifth side surface, the third side surface and the fourth side surface are connected to form a V shape, a pair of second connecting holes for connecting the rear disc U-shaped seat are respectively formed in the first side surface, the third side surface and the fourth side surface, the distances between the first side surface, the third side surface and the fourth side surface and the center of the second shaft hole are equal, and each rear traveling mechanism is connected to the first side surface, the third side surface or the fourth side surface through one rear disc U-shaped seat, the symmetrical center plane of the rear disk U-shaped seat fixing block is superposed with the symmetrical center plane of the front disk U-shaped seat fixing block.

Preferably, the pipeline robot further comprises a pneumatic control system, the pneumatic control system comprising:

and the air inlet of the three-position five-way valve is connected with an air source, and the air outlet of the three-position five-way valve is respectively connected with the rodless cavities of the front support wall cylinder and the rear support wall cylinder.

Preferably, the pneumatic control system further comprises:

a mobile switch;

the air inlet of the first two-position five-way single air control valve is connected with an air source through the action switch, the left air outlet is connected with the rodless cavity of the brake cylinder of the front walking mechanism and the rod cavity of the brake cylinder of the rear walking mechanism, and the right air outlet is connected with the rod cavity of the brake cylinder of the front walking mechanism and the rodless cavity of the brake cylinder of the rear walking mechanism;

the air inlet of the second two-position five-way single pneumatic control valve is connected with an air source through the action switch, the left air outlet is connected with the rod cavity of the telescopic cylinder, and the right air outlet is connected with the rodless cavity of the telescopic cylinder;

the air inlets of the first reversing valve and the second reversing valve are connected with the air source through the action switch, the air outlet of the first reversing valve is connected with the right air control reversing port of the second two-position five-way single air control valve, and the air outlet of the second reversing valve is connected with the left air control reversing port of the second two-position five-way single air control valve;

the air control reversing port of the third two-position five-way single-air control valve is connected with the air source sequentially through the front reversing switch, the rear reversing switch and the action switch, the left air outlet of the third two-position five-way single-air control valve is connected with the left air control reversing port of the first two-position five-way single-air control valve, and the right air outlet of the third two-position five-way single-air control valve is connected with the right air control reversing port of the first two-position five-way single-air control valve.

Preferably, the pneumatic control system further comprises:

and the pneumatic main switch is arranged at the outlet of the air source.

Preferably, the first reversing valve and the second reversing valve are mechanical reversing valves and are arranged on the inner side of the front mounting plate, a steel wire rope is sleeved at a reversing button of the second reversing valve, and the other end of the steel wire rope is connected to the head of the cylinder body of the telescopic cylinder through a steel wire rope fixing bolt.

Preferably, the cylinder body of the telescopic cylinder is arranged on the rear mounting disc, and the piston rod is connected to the front mounting disc; when the piston rod of the telescopic cylinder is contracted to the bottom, the head of the cylinder body of the telescopic cylinder touches the reversing button of the first reversing valve, and when the piston rod of the telescopic cylinder is extended to the bottom, the steel wire rope is stretched to pull the reversing button of the second reversing valve.

The invention has the beneficial effects that:

1. the front walking mechanism and the rear walking mechanism are controlled to stretch and retract through the front supporting wall cylinder and the rear supporting wall cylinder, and the centering wall supporting walking of the pipeline robot in the pipeline can be realized by matching the stretching and retracting of the telescopic cylinder.

2. And a full-pneumatic driving mode is adopted, and the waterproof and explosion-proof characteristics are achieved.

The present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts.

Fig. 1 is a schematic view of the overall structure of a pipeline robot according to an embodiment of the present invention;

FIG. 2 is a radial view of the operation state of the pipeline robot according to the embodiment of the present invention;

FIG. 3 is an axial view of the working state of the pipeline robot according to the embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a cylinder wheel combination traveling mechanism of a pipeline robot according to an embodiment of the present invention;

FIG. 5 is a schematic view of a bi-directional wheel fixing plate of the pipeline robot according to the embodiment of the present invention;

fig. 6a and 6b are a perspective view and a front view of a front disk U-shaped seat fixing block of a pipeline robot according to an embodiment of the present invention, respectively;

fig. 7a and 7b are a perspective view and a front view of a rear disc U-shaped seat fixing block of a pipeline robot according to an embodiment of the present invention, respectively;

FIG. 8 is a schematic view of a front mounting plate of the pipeline robot in an embodiment of the present invention;

FIG. 9 is a schematic view of a rear mounting plate of the pipeline robot in an embodiment of the present invention;

fig. 10 is a schematic diagram of a pneumatic control system of the pipeline robot according to the embodiment of the present invention.

Description of reference numerals:

1, a front supporting wall cylinder; 2, a rear supporting wall cylinder; 3, mounting a disc; 4, mounting a disc; 5, a telescopic cylinder; 6, connecting rod hinged support; 7a first link; 8, fixing blocks of the U-shaped seat of the front disk; 9, a front disk U-shaped seat; 10 front disc wall-supporting rod; 11 a forward travel mechanism; 12 pipe wall; 13 assembling equipment; 14 a bidirectional wheel; 15 bidirectional wheel fixing plates; 1501 a circular through hole; 1502 through holes; 1503 via hole; 16 a brake cylinder; 17, fixing blocks of a brake cylinder; 18, a gas source; 19 a pneumatic master switch; 20 a motion switch; 21 front and back reversing switches; 22 a third two-position five-way single pneumatic control valve; 23 a first two-position five-way single pneumatic control valve; 24 a second two-position five-way single pneumatic control valve; 25 a first direction valve; 26 a second directional valve; 27 a three-position, five-way valve; 28 steel wire ropes; 29 steel wire rope fixing bolts; 30 bidirectional wheel hinge pins; 31 link hinge pin; 32 spacer bar hinge pins; the 33 link is pinned to the spacer bar.

Detailed Description

The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In the description of the invention, it is to be understood that the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the invention.

In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integral to one another; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.

The embodiment of the invention provides a pipeline robot, which comprises:

the front motion assembly comprises a front mounting disc, a front supporting wall cylinder and a plurality of front traveling mechanisms, the front supporting wall cylinder is connected with the front mounting disc, and the plurality of front traveling mechanisms are connected with the front supporting wall cylinder and extend and retract under the driving of the front supporting wall cylinder;

the rear motion assembly comprises a rear mounting disc, a rear support wall cylinder and a plurality of rear traveling mechanisms, the rear support wall cylinder is connected to the rear mounting disc, and the plurality of rear traveling mechanisms are connected to the rear support wall cylinder and driven by the rear support wall cylinder to stretch and retract;

the telescopic cylinder is connected between the rear mounting disc and the front mounting disc.

The front walking mechanism and the rear walking mechanism are controlled to stretch and retract through the front supporting wall cylinder and the rear supporting wall cylinder, and the centering wall supporting walking of the pipeline robot in the pipeline can be realized by matching the stretching and retracting of the telescopic cylinder.

Fig. 1 is a schematic view of the overall structure of a pipeline robot according to an embodiment of the present invention, fig. 2 and 3 are a radial view and an axial view of the operation state of the pipeline robot according to the embodiment of the present invention, respectively, fig. 4 is a schematic view of the structure of a cylinder-wheel combination traveling mechanism of the pipeline robot, fig. 5 is a schematic view of a two-way wheel fixing plate of the pipeline robot according to the embodiment of the present invention, fig. 6a and 6b are a perspective view and a front view of a front disk U-shaped seat fixing block of the pipeline robot according to the embodiment of the present invention, fig. 7a and 7b are a perspective view and a front view of a rear disk U-shaped seat fixing block of the pipeline robot according to the embodiment of the present invention, respectively, fig. 8 is a schematic view of a front mounting plate of the pipeline robot according to the embodiment of the present invention, and fig. 9 is a schematic view of a rear mounting.

As shown in the above drawings, a pipeline robot according to an exemplary embodiment includes:

the front motion assembly comprises a front mounting plate 3, a front supporting wall cylinder 1 and a plurality of front traveling mechanisms, wherein the front supporting wall cylinder 1 is connected to the front mounting plate 3, and the plurality of front traveling mechanisms are connected to the front supporting wall cylinder 1 and extend and retract under the driving of the front supporting wall cylinder 1;

the rear motion assembly comprises a rear mounting plate 4, a rear support wall cylinder 2 and a plurality of rear traveling mechanisms, wherein the rear support wall cylinder 2 is connected to the rear mounting plate 4, and the plurality of rear traveling mechanisms are connected to the rear support wall cylinder 2 and driven by the rear support wall cylinder 2 to stretch and retract;

and the telescopic cylinder 5 is connected between the rear mounting plate 4 and the front mounting plate 3.

In this embodiment, the number of the telescopic cylinders 5 is three, and the telescopic cylinders 5 are arranged in parallel with each other, and the cylinder bodies of the telescopic cylinders 5 are connected to the rear mounting plate 4, and the piston rods are connected to the front mounting plate 3. In other embodiments, the number of telescopic cylinders 5 may be selected according to actual needs.

Referring to fig. 8, the front mounting plate 3 is substantially square, a circular through hole is formed in the center of the front mounting plate, and four threaded connection holes are formed in the periphery of the circular through hole; a piston rod of the front supporting wall cylinder 1 can penetrate through a circular through hole in the center of the front mounting plate 3, and a cylinder body of the front supporting wall cylinder 1 is fixedly connected with the four threaded connecting holes through screws. The front mounting plate 3 is respectively provided with two through holes in four directions of d1, e1, f1 and g1 and is used for being fixedly connected with the four connecting rod hinged supports 6 through screws; the left, right and lower parts of the circular through hole in the center of the front mounting plate 3 are respectively provided with a through hole for fixedly connecting with the piston rods of the three telescopic cylinders 5 through nuts. The four directions d1, e1, f1 and g1 are symmetrically arranged with respect to the longitudinal center line of the front mounting plate 3.

Referring to fig. 9, the shape and size of the rear mounting plate 4 are substantially the same as those of the front mounting plate 3, the rear mounting plate 4 is substantially square, a circular through hole is formed in the center of the rear mounting plate, and four threaded connection holes are formed in the periphery of the circular through hole; the piston rod of the rear support wall cylinder 2 can penetrate through the circular through hole in the center of the rear mounting plate 4, and the cylinder body of the rear support wall cylinder 2 is fixedly connected with the four threaded connecting holes through screws. The rear mounting plate 4 is respectively provided with two through holes in three directions of h1, i1 and j1, and is fixedly connected with the three connecting rod hinged supports 6 through screws. The left, right and lower parts of the circular through hole in the center of the rear mounting plate 4 are respectively provided with four through holes which are fixedly connected with four threaded holes at the bottom of the cylinder bodies of the three telescopic cylinders 5 through screws. The h1 direction coincides with the longitudinal center line of the rear mounting plate 4, and the i1 and j1 directions are symmetrically arranged with respect to the longitudinal center line of the rear mounting plate 4. The i1 direction, the j1 direction is located between the f1 direction and the g1 direction; the h1 direction is located between the d1 direction and the e1 direction, and coincides with the longitudinal center line of the front mounting plate 3.

Referring to fig. 4, the front and rear traveling mechanisms each include:

a bidirectional wheel 14;

a pair of bidirectional wheel fixing plates 15, the bidirectional wheel 14 being connected between first end portions of the pair of bidirectional wheel fixing plates 15 by a bidirectional wheel hinge pin 30;

a brake cylinder fixing block 17, the brake cylinder fixing block 17 being connected between the second ends of the pair of bidirectional wheel fixing plates 15;

and a brake cylinder 16, wherein the cylinder body of the brake cylinder 16 is connected to a brake cylinder fixing block 17, and the piston of the brake cylinder 16 can extend to the surface of the bidirectional wheel to perform braking.

Wherein, the brake cylinder fixed block 17 is the cuboid, is the flat slice form, and the middle part evenly sets up four through-holes, and brake cylinder 16's cylinder body bottom is equipped with four screw holes, wears to locate through-hole and screw hole through the screw, makes brake cylinder 16 fixed connection in brake cylinder fixed block 17. A pair of screw holes are respectively formed at both side surfaces of the brake cylinder fixing block 17, and a pair of bidirectional wheel fixing plates 15 may be coupled to both sides of the brake cylinder fixing block 17 by screws. Referring to fig. 5, the bidirectional wheel fixing plate 15 is a plate shape and rectangular, one end of which is provided with a large circular through hole 1501, and the bidirectional wheel 14 is hinged between the circular through holes 1501 of the pair of bidirectional wheel fixing plates 15 by the bidirectional wheel hinge pin 30, so that the bidirectional wheel 14 can rotate around the bidirectional wheel hinge pin 30; the middle part of the bidirectional wheel fixing plate 15 is provided with two through holes 1502 which are transversely arranged and used for connecting the brake cylinder fixing block 17; the other end of the bidirectional wheel fixing plate 15 is provided with two through holes 1503 which are longitudinally arranged, and the through holes 1503 are fixedly connected with the two through holes at the end part of the spacer bar 10 through screws.

The pipeline robot also comprises a front disk U-shaped seat fixing block 8 and a rear disk U-shaped seat fixing block;

the front disk U-shaped seat fixing block 8 is connected to a piston rod of the front supporting wall cylinder 1, the second end parts of a pair of bidirectional wheel fixing plates 15 of the front walking mechanism 11 are connected to one end of a front disk supporting wall rod 10, the other end of the front disk supporting wall rod 10 is hinged to the front disk U-shaped seat fixing block 8 through a front disk U-shaped seat 9, and the middle part of the front disk supporting wall rod 10 is hinged to the front mounting disk 3 through a first connecting rod 7;

the rear disk U-shaped seat fixing block is connected to a piston rod of the rear supporting wall cylinder 2, the second end portions of the pair of bidirectional wheel fixing plates 15 of the rear traveling mechanism are connected to one end of a rear disk supporting wall rod, the other end of the rear disk supporting wall rod is hinged to the rear disk U-shaped seat fixing block through a rear disk U-shaped seat, and the middle portion of the rear disk supporting wall rod is hinged to the rear mounting disk 4 through a second connecting rod.

Referring to fig. 6a and 6b, the front disc U-shaped seat fixing block 8 is a pentagonal prism, the number of the front traveling mechanisms is four, a first shaft hole for the piston of the front support wall cylinder 1 to pass through is formed in the center of the front disc U-shaped seat fixing block 8, a pair of first connection holes for connecting the front disc U-shaped seat 9 is respectively formed in four side surfaces (represented by d, e, f and g in fig. 6 b), the distances between the four side surfaces and the center of the first shaft hole are equal, the four side surfaces and the center of the first shaft hole are symmetrically arranged relative to the center of the first shaft hole, and each front traveling mechanism is connected to one side surface through one front disc U-shaped seat 9.

Referring to fig. 7a and 7b, the rear disc U-shaped seat fixing block is a pentagonal prism, the number of the rear traveling mechanisms is three, a second shaft hole for the piston of the rear support wall cylinder 2 to pass through is formed in the center of the rear disc U-shaped seat fixing block, the rear disc U-shaped seat includes first side surfaces (denoted by h in fig. 7 b) to fifth side surfaces which are connected end to end, the first side surfaces are perpendicular to the second side surfaces and the fifth side surfaces, the second side surfaces are parallel to the fifth side surfaces, the third side surfaces (denoted by j in fig. 7 b) and the fourth side surfaces (denoted by i in fig. 7 b) are connected to form a V shape, a pair of second connecting holes for connecting the rear disc U-shaped seat are respectively formed in the first side surfaces, the third side surfaces and the fourth side surfaces, distances between the first side surfaces, the third side surfaces and the fourth side surfaces and the center of the second shaft hole are equal, and each rear traveling mechanism is connected to the first side surfaces, the, And on the third side surface or the fourth side surface, the symmetrical center plane of the rear disk U-shaped seat fixing block is superposed with the symmetrical center plane of the front disk U-shaped seat fixing block.

U type seat 9 is the U type lamellar body, and its bottom is equipped with two through-holes for connect the side of setting U type seat fixed block 8 in the front, and its two sides are equipped with concentric through-hole, and concentric through-hole is articulated with front disk vaulting pole 10 through vaulting pole hinge pin 32, makes front disk vaulting pole 10 can use vaulting pole hinge pin 32 to rotate for the axle relatively.

The front disc support wall rod 10 is a cuboid rod piece with a square cross section and a hollow interior, through holes are respectively formed in the two ends and the middle of the front disc support wall rod, the through hole in one end is hinged to the U-shaped seat 9 through a support wall rod hinge pin 32, the through hole in the middle is connected with a first connecting rod 7 through a connecting rod and a support wall rod hinge pin 33, and the through hole in the other end is fixedly connected with the pair of bidirectional wheel fixing plates 15.

The connecting rod hinged support 6 is a cuboid block, the back of the connecting rod hinged support is provided with two threaded holes for being connected with the front mounting plate 3 through screws, the side surface of the connecting rod hinged support close to the head is provided with a through hole, and the connecting rod hinged support is hinged with one end of the first connecting rod 7 through a connecting rod hinged pin 31. The first connecting rod 7 is a sheet body with through holes at two ends, and the other end of the first connecting rod 7 is hinged on two sides of the front disc supporting wall rod 10 through a connecting rod and a supporting wall rod hinge pin 33. In this way, one front disk stay 10 and one front travel mechanism 11 are attached to the front mounting disk 3 in each of four directions d1, e1, f1, and g 1.

Similarly, a rear disk wall supporting rod and a rear walking mechanism are respectively arranged in three directions of h1, i1 and j1 of the rear mounting disk.

Fig. 10 is a schematic diagram of a pneumatic control system of a pipeline robot according to an embodiment of the present invention, and the pneumatic control system of the pipeline robot will be described with reference to fig. 10. The pneumatic control system includes:

the pneumatic main switch 19 is arranged at the outlet of the air source 18;

the air inlet of the three-position five-way valve 27 is connected with the air source 18, and the air outlet of the three-position five-way valve 27 is respectively connected with the rodless cavities of the front supporting wall cylinder 1 and the rear supporting wall cylinder 2;

a motion switch 20;

a first two-position five-way single air control valve 23, wherein an air inlet of the first two-position five-way single air control valve 23 is connected with an air source 18 through a motion switch 20, a left air outlet is connected with a rodless cavity of a brake cylinder of the front walking mechanism and a rod cavity of a brake cylinder of the rear walking mechanism, and a right air outlet is connected with a rod cavity of a brake cylinder of the front walking mechanism 11 and a rodless cavity of a brake cylinder of the rear walking mechanism;

a second two-position five-way single pneumatic control valve 24, wherein the air inlet of the second two-position five-way single pneumatic control valve 24 is connected with an air source 18 through a motion switch 20, the left air outlet is connected with a rod cavity of the telescopic cylinder 5, and the right air outlet is connected with a rodless cavity of the telescopic cylinder 5;

the air inlets of the first reversing valve 25 and the second reversing valve 26 are connected with the air source 18 through the action switch 20, the air outlet of the first reversing valve 25 is connected with the right air-controlled reversing port of the second two-position five-way single air-controlled valve 24, and the air outlet of the second reversing valve 26 is connected with the left air-controlled reversing port of the second two-position five-way single air-controlled valve 24;

a third two-position five-way single-air control valve 22, wherein the middle air inlet of the third two-position five-way single-air control valve 22 is connected with the air outlet of the first reversing valve 25, the left air inlet and the right air inlet are connected with the air outlet of the second reversing valve 26, the air control reversing port of the third two-position five-way single-air control valve 22 is connected with the air source 18 through the front and back reversing switch 21 and the action switch 20 in sequence, the left air outlet of the third two-position five-way single-air control valve 22 is connected with the left air control reversing port of the first two-position five-way single-air control valve 23, and the right air outlet is connected with the right reversing port of the first two.

The first direction valve 25 and the second direction valve 26 are mechanical direction valves, and are disposed inside the front mounting plate 3, and the second direction valve 16 is located below the first direction valve 25. A steel wire rope 28 is sleeved at a reversing button of the second reversing valve 26, and the other end of the steel wire rope 28 is connected to the cylinder head of the telescopic cylinder 5 through a steel wire rope fixing bolt 29. When the telescopic cylinder 5 is extended to the bottom, the steel wire rope 28 is stretched, so that the reversing button of the second reversing valve 26 is pulled, and the pneumatic control logic of the pipeline robot is changed. When the telescopic cylinder 5 is contracted to the bottom, the cylinder head of the telescopic cylinder 5 touches the reversing button of the first reversing valve 25, so that the first reversing valve 25 is switched on, and the pneumatic control logic of the pipeline robot is changed.

The overall working process of the pipeline robot is as follows:

firstly, the robot is put into a drainage pipeline, a pneumatic master switch 19 is opened, a three-position five-way manual control valve 27 is opened after a gas source 18 generates compressed gas with enough pressure, the compressed gas enters rodless cavities of a front support wall cylinder 1 and a rear support wall cylinder 2 at the same time, and at the moment, the rodless cavities of the front support wall cylinder 1 and the rear support wall cylinder 2 are inflated to respectively drive a front disk U-shaped seat fixing block 8 and a rear disk U-shaped seat fixing block which are connected to a piston rod of the support wall cylinder and a front disk U-shaped seat 9 and a rear disk U-shaped seat to extend out at the same time.

The front disc U-shaped seat 9 drives the front disc supporting wall rod 10 to rotate outwards around the supporting wall rod hinge pin 32 through the supporting wall rod hinge pin 32, meanwhile, the front disc supporting wall rod 10 is restrained by the first connecting rod 7, one end of the first connecting rod 7 is hinged with the front disc supporting wall rod 10 through the connecting rod and the supporting wall rod hinge pin 33, relative rotation can be achieved, and the other end of the first connecting rod 7 is hinged through the connecting rod hinge pin 31 and rotates around the connecting rod hinge seat 6 relatively. Therefore, with the extension of the rodless cavity of the front wall-supporting cylinder 1, the front wall-supporting rod 10 is driven to extend outwards until the front running gear 11 fixedly connected to the front wall-supporting rod 10 is pushed against the pipe wall 12. Similarly, the rear disc clevis brings the rear running gear up against the pipe wall 12. At the moment, the pipeline robot reaches a state of supporting the wall simultaneously from front to back, and the assembling equipment 13 fixedly connected to the front mounting plate 3 is just positioned at the central axis of the pipeline.

After the pipeline robot reaches a stable wall supporting state, the action switch 20 is turned on, compressed air passes through the right air outlet of the first two-position five-way single-air control valve 23, one way of compressed air enters the rod cavity of the brake cylinder 16 of the front walking mechanism 11 to enable the brake cylinder 16 to contract, the bidirectional wheel 14 can rotate freely, the other way of compressed air enters the rodless cavity of the brake cylinder 16 of the rear walking mechanism to enable the brake cylinder 16 to extend out to abut against the bidirectional wheel 14 to enable the rotation of the bidirectional wheel 14 to be limited, and the braking effect is achieved. Meanwhile, compressed air enters a rodless cavity of the telescopic cylinder 5 through a right air outlet of the second two-position five-way single-air control valve 24 to extend the telescopic cylinder 5, and the two-way wheel 14 on the rear mounting disc 4 is limited by braking action at the moment, and the two-way wheel 14 on the front mounting disc 3 can rotate freely, so that the extension of the telescopic cylinder 5 drives the front half part of the whole pipeline robot to move forwards.

When the telescopic cylinder 5 extends to the bottom, the second reversing valve 26 is pulled through the steel wire rope 28, at the moment, the second reversing valve 26 is communicated, and the gas path reaches the left pneumatic reversing ports of the first two-position five-way single pneumatic control valve 23 and the second two-position five-way single pneumatic control valve 24 through the second reversing valve 26, so that the gas outlets of the two double pneumatic control valves are reversed. At this time, the total intake air will flow out from the left air outlets of the two double pneumatic control valves respectively, so that the action logics of the brake cylinders 16 of the front travelling mechanism and the rear travelling mechanism and the telescopic cylinder 5 in the middle are opposite: compressed air passes through a left air outlet of the first two-position five-way single-air control valve 23, one path of compressed air enters a rodless cavity of the brake cylinder 16 of the front walking mechanism to enable the brake cylinder 16 to extend and abut against the bidirectional wheel 14, the rotation of the bidirectional wheel 14 is limited, the braking effect is achieved, the other path of compressed air enters a rod cavity of the brake cylinder 16 of the rear walking mechanism to enable the brake cylinder 16 to contract, and the bidirectional wheel 14 can rotate freely. Meanwhile, compressed air enters the rod cavity of the telescopic cylinder 5 through the left air outlet of the second two-position five-way single-air control valve 24 to enable the telescopic cylinder 5 to contract, and since the bidirectional wheel 14 of the front travelling mechanism is limited by braking action at the moment and the bidirectional wheel 14 of the rear travelling mechanism can rotate freely, the contraction of the telescopic cylinder 5 drives the rear half part of the whole pipeline robot to move forwards. When the telescopic cylinder 5 is contracted to the bottom, the first reversing valve 25 is touched, the first reversing valve 25 is switched on, the air path reaches the right air control reversing ports of the first two-position five-way single air control valve 23 and the second two-position five-way single air control valve 24 through the first reversing valve 25, and the pipeline robot repeats the action logic.

This completes the centering travel of the robot on the pipe concentric, and the fitting device 13 can also function at the central axis position of the pipe. When the front-rear direction switch 21 is turned on, the above action logic of the pipeline robot is reversed, so that the pipeline robot can retreat in the pipeline.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.